Name
Title | ||
|---|---|---|
Adaptive fuzzy sliding mode controller design for folding-boom aerial platform vehicle |
Abstract | ||
|---|---|---|
In this paper, an adaptive fuzzy sliding mode controller (AFSMC) is presented for the tracking control of work platform of folding-boom aerial platform vehicle. Chattering caused by the high speed switching control in sliding mode controller may degenerate the system performance and result in unpredictable instabilities. The proposed AFSMC could eliminate the chattering by substituting the discontinuous switching control with the continuous control obtained from adaptive fuzzy system. Since the adaptive control law is obtained from Lyapunov stability conditions, the stability and convergence of the overall system can be ensured. The simulation results demonstrate that the AFSMC is very effective in the case of system uncertainties. Not only is the vibration of the work platform suppressed, but also the tracking error of it is attenuated. |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1109/ROBIO.2010.5723579 | ROBIO |
Keywords | Field | DocType |
unpredictable instabilities,afsmc,switching control,lyapunov stability conditions,control system synthesis,aircraft,folding boom aerial platform vehicle,adaptive control,fuzzy control,lyapunov methods,variable structure systems,tracking control,adaptive fuzzy sliding mode controller design,system performance,mathematical model,vibrations,trajectory,uncertainty | Convergence (routing),Control theory,Control theory,Fuzzy logic,Lyapunov stability,Control engineering,Engineering,Adaptive control,Fuzzy control system,Trajectory,Tracking error | Conference |
Volume | Issue | ISBN |
null | null | 978-1-4244-9319-7 |
Citations | PageRank | References |
0 | 0.34 | 6 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Haidong Hu | 1 | 0 | 1.01 |
| En Li | 2 | 148 | 13.04 |
| Xiaoguang Zhao | 3 | 54 | 18.68 |
| Zi-ze Liang | 4 | 106 | 19.61 |
| Yu Wen | 5 | 152 | 18.25 |