| 6 | Adaptive Fuzzy Sliding Mode Control of Under-actuated Nonlinear Systems显示文摘A new extension of the conventional adaptive fuzzy sliding mode control(AFSMC) scheme, for the case of under-actuated and uncertain affine multiple-input multiple-output(MIMO) systems, is presented. In particular, the assumption for non-zero diagonal entries of the input gain matrix of the plant is relaxed. In other words, the control effect of one actuator can propagate from a subgroup of canonical state equations to the rest of equations in an indirect sense. The asymptotic stability of the proposed AFSM control method is proved using a Lyapunov-based methodology. The effectiveness of the proposed method for the case of under-actuated systems is investigated in the presence of plant uncertainties and disturbances, through simulation studies. | Amir Hossein Davaie Markazi Mohammad Maadani Seyed Hassan Zabihifar Nafiseh Doost-Mohammadi | 2018 | International Journal of Automation and computing2018，15，3： | 1 |
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