期刊
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
卷 40, 期 1, 页码 241-252出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMCB.2009.2025964
关键词
Adaptive mechanism; double-pendulum-and-cart system; fuzzy sliding-mode control; switched control
类别
资金
- National Science Council of the Republic of China [NSC 94-2213-E-197-003]
In this paper, an adaptive fuzzy switched swing-up and sliding controller (AFSSSC) is proposed for the swing-up and position controls of a double-pendulum-and-cart system. The proposed AFSSSC consists of a fuzzy switching controller (FSC), an adaptive fuzzy swing-up controller (FSUC), and an adaptive hybrid fuzzy sliding controller (HFSC). To simplify the design of the adaptive HFSC, the double-pendulum-and-cart system is reformulated as a double-pendulum and a cart subsystem with matched time-varying uncertainties. In addition, an adaptive mechanism is provided to learn the parameters of the output fuzzy sets for the adaptive HFSC. The FSC is designed to smoothly switch between the adaptive FSUC and the adaptive HFSC. Moreover, the sliding mode and the stability of the fuzzy sliding control systems are guaranteed. Simulation results are included to illustrate the effectiveness of the proposed AFSSSC.
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