title: |
Two Order Sliding Fuzzy Type-2 Control Based on Integral Sliding Mode for MIMO Systems |
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publication: |
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part of series: |
Advances in Intelligent Systems Research | |
| pages: | 992 - 999 | |
DOI: |
To be assigned soon (how to use a DOI) | |
author(s): |
Malik Manceur, Najib Essounbouli, Abdelaziz Hamzaoui |
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publication date: |
July 2011 |
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keywords: |
Higher order sliding mode, MIMO nonlinear systems, Integral sliding mode, Fuzzy logic
type-2, T-S fuzzy systems, Lyapunov stability. |
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abstract: |
A higher order sliding fuzzy type-2 controller
scheme for an nth order multi-input multi-output
(MIMO) nonlinear uncertain perturbed systems is
proposed in the paper. To overcome the constraint
on the knowledge of the system model, local models
related to some operating points were used to synthesize a nominal fuzzy type-2 global model. The
controller uses integral sliding mode concept and
contains two parts. Adaptive fuzzy type-2 systems
have been introduced to generate the Super Twisting signals to avoid both the chattering and the constraint on the knowledge of upper bounds of both
disturbances and uncertainties. These fuzzy type-2
systems are adjusted on-line by adaptation laws deduced from the stability analysis in Lyapunov sense.
The advantages of the method are that its implementation is easy, the time convergence is chosen
in advance and the robustness is ensured. Simulation results of two link robot manipulator are presented to illustrate the tracking performances of the
method. |
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copyright: |
©
Atlantis Press. This article is distributed under the
terms of the Creative Commons Attribution License, which permits
non-commercial use, distribution and reproduction in any medium,
provided the original work is properly cited. |
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full text: |