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Stable Adaptive Fuzzy Sliding-Mode Controller for a Class of Underactuated Dynamic Systems

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Book cover Recent Advances in Electrical Engineering and Control Applications (ICEECA 2016)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 411))

Abstract

In this paper, a novel stable adaptive fuzzy sliding–mode controller (AFSMC) is investigated for a class of uncertain underactuated nonlinear dynamic systems. The underactuated system is decoupled into two subsystems. In the controller design, a sliding surface for each subsystem is defined and a suitable adaptive fuzzy system is used to reasonably approximate the uncertain functions. The stability of the closed-loop system is proven by Lyapunov approach. The effectiveness of the proposed AFSMC is illustrated throughout simulation results.

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Author information

Authors and Affiliations

  1. LAJ Laboratory, Department of Automatic Control, University of Jijel, Ouled-Aissa, BP. 98, 18000, Jijel, Algeria

    Soumia Moussaoui & Abdesselem Boulkroune

Authors
  1. Soumia Moussaoui
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  2. Abdesselem Boulkroune
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Corresponding author

Correspondence to Soumia Moussaoui .

Editor information

Editors and Affiliations

  1. MIS (EA 4290), Université de Picardie Jules Verne, Amiens, France

    Mohammed Chadli

  2. Laboratoire d'Automatique et de Robotiqu, Université Abbes Laghrour, Khenchela, Khenchela, Algeria

    Sofiane Bououden

  3. VĹ B-Technical University of Ostrava , Ostrava ba, Czech Republic

    Ivan Zelinka

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Moussaoui, S., Boulkroune, A. (2017). Stable Adaptive Fuzzy Sliding-Mode Controller for a Class of Underactuated Dynamic Systems. In: Chadli, M., Bououden, S., Zelinka, I. (eds) Recent Advances in Electrical Engineering and Control Applications. ICEECA 2016. Lecture Notes in Electrical Engineering, vol 411. Springer, Cham. https://doi.org/10.1007/978-3-319-48929-2_9

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  • DOI: https://doi.org/10.1007/978-3-319-48929-2_9

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-48928-5

  • Online ISBN: 978-3-319-48929-2

  • eBook Packages: EngineeringEngineering (R0)

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