An adaptive fuzzy sliding mode controller for uncertain underactuated mechanical systems

Underactuated mechanical systems are frequently encountered in several industrial and real-world applications such as robotic manipulators with elastic components, aerospace vehicles, marine vessels, and overhead container cranes. The design of accurate controllers for this kind of mechanical system can become very challenging, especially if a high level of uncertainty is involved. In this paper, an adaptive fuzzy inference system is combined with a sliding mode controller in order to enhance the control performance of uncertain underactuated mechanical systems. The proposed scheme can deal with a large class of multiple-input-multiple-output underactuated systems subject to parameter uncertainties, unmodeled dynamics, and external disturbances. The convergence properties of the resulting intelligent controller are proved by means of a Lyapunov-like stability analysis. Experimental results obtained with an overhead container crane demonstrate not only the feasibility of the proposed scheme, but also its improved efficacy for both stabilization and trajectory tracking problems.