Simulation of adaptive fuzzy hierarchical sliding mode control for Pendubot

Authors

  • Anh Khoa Vo Ho Chi Minh City University of Technology and Education, Vietnam
  • Xuan Dung Huynh Ho Chi Minh City University of Technology and Education, Vietnam
  • Minh Tam Nguyen Ho Chi Minh City University of Technology and Education, Vietnam
  • Thi Thanh Hoang Le Ho Chi Minh City University of Technology and Education, Vietnam
  • Duong Khanh Linh Huynh Kunming University of Science and Technology, China
  • Wu Xing Kunming University of Science and Technology, China
  • Mingfang Chen Kunming University of Science and Technology, China
  • Van Dong Hai Nguyen Ho Chi Minh City University of Technology and Education, Vietnam

Corressponding author's email:

16151036@student.hcmute.edu.vn

Keywords:

Pendubot, Hierarchical Sliding Mode Control, Adaptive Fuzzy Hierarchical Sliding Mode Control, adaptive fuzzy, Lyapunov

Abstract

In this paper, Adaptive Fuzzy Hierarchical Sliding Mode Control is designed to control trajectory tracking for Pendubot. A controller is based on Hierarchical Sliding Mode. Besides, Adaptive Fuzzy algorithm is used to approximate the unknown nonlinear functions of Hierarchical Sliding Mode with adaptive rules update online through time. The stability of the system through sine-trajectory tracking under that controller is proved by Lyapunov criteria. Simulation results prove again the success of this method.

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References

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Published

28-04-2020

How to Cite

[1]
A. K. Vo, “Simulation of adaptive fuzzy hierarchical sliding mode control for Pendubot”, JTE, vol. 15, no. 2, pp. 25–34, Apr. 2020.

Issue

Vol. 15 No. 2 (2020)

Section

Research Article

Categories

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