具有时变不确定性的欠驱动机械系统的自适应模糊滑模镇定
Stabilization of Underactuated Mechanical Systems with Time-Varying Uncertainty using Adaptive Fuzzy Sliding Mode
摘要：
研究了存在外部干扰和模型不确定性的欠驱动系统的控制问题。提出了一种自适应模糊滑模控制器（AFSMC）来解决这个问题，满足对不确定性和干扰的鲁棒性。所设计的控制器可以应用于广泛的欠驱动系统，与许多以前的工作相比，具有更少的限制。为了评估所提出的算法的性能，它被应用到欠驱动倒立摆和平移振荡器/旋转驱动器（TORA）系统的两个自由度。仿真结果也表明了所提出的策略的有效性。
英文摘要：
In this paper, the control problem for underactuated systems in the presence of external disturbances and model uncertainties is considered. An adaptive fuzzy sliding mode controller (AFSMC) is proposed to solve the problem, satisfying the robustness properties against uncertainties and disturbances. The designed controller can be applied to a wide class of underactuated systems and have fewer restrictions, compared with many pervious works. To evaluate the performance of proposed algorithm, it is applied to an underactuated inverted pendulum and a Translational Oscillator/Rotational Actuator (TORA) system with two degrees of freedom. The simulations are also demonstrated to show the effectiveness of the proposed strategy.
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