An adaptive fuzzy PID control for a class of uncertain nonlinear underactuated systems

被引：0
|
作者：
Cherrat, Nidhal [1 ]
Boubertakh, Hamid [1 ]
Arioui, Hichem [2 ]
机构：
[1] Univ Jijel, LAJ, Jijel, Algeria
[2] Univ Evry Val dEssonne, EA 4526, Lab IBISC, Paris, France
来源：
PROCEEDINGS OF 2016 8TH INTERNATIONAL CONFERENCE ON MODELLING, IDENTIFICATION & CONTROL (ICMIC 2016) | 2016年
关键词：
PID controller; uncertain undeactimted systems; fuzzy systems; adaptation law; Lyapunov stability;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this work an adaptive PM control law is used to approximate a model-based robust sliding mode control law to deal with a class of uncertain underactuated nonlinear systems. Therefore, a fuzzy system is used to learn online the ideal PM control gains regarding the desired performances. So, the fuzzy system parameters are adjusted online by a robust adaptation law in order to minimize the error between the unknown ideal controller and the PM controller. The stability of the closed-loop system is proven analytically based on the Lyapunov approach. A simulation example is presented to illustrate the efficiency of the proposed approach.
引用
收藏
页码：677 / 682
页数：6
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