Adaptive Fuzzy Sliding Mode Controller and Observer for a Dive Cell

Bessa, Wallace Moreira; Kreuzer, Edwin; Krumm, Ludwig; Pick, Marc-André; Solowjow, Eugen

doi:10.1002/pamm.201510122

Cited by 2 publications

(2 citation statements)

References 2 publications

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“…In addition, it should be highlighted that this procedure has already been successfully applied to the dynamic positioning of remotely operated vehicles (Bessa et al, 2008, vibration suppression in smart structures (Bessa et al, 2013), tracking of unstable periodic orbits in a chaotic pendulum (Bessa et al, 2014), and depth regulation of a diving cell (Bessa et al, 2015). Now, considering that the adopted sliding surface is a stable manifold (Ashrafiuon and Erwin, 2008), we just have to prove its attractiveness, in order to ensure exponential convergence and stability of the proposed controller (Slotine and Li, 1991;Khalil, 2001).…”

Section: Adaptive Fuzzy Sliding Mode Controlmentioning

confidence: 99%

“…In addition, it should be highlighted that this procedure has already been successfully applied to the dynamic positioning of remotely operated vehicles (Bessa et al., 2008, 2010), vibration suppression in smart structures (Bessa et al., 2013), tracking of unstable periodic orbits in a chaotic pendulum (Bessa et al., 2014), and depth regulation of a diving cell (Bessa et al., 2015).…”

Section: Adaptive Fuzzy Sliding Mode Controlmentioning

confidence: 99%

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An adaptive fuzzy sliding mode controller for uncertain underactuated mechanical systems

Bessa

Otto

Kreuzer

et al. 2019

Journal of Vibration and Control

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Underactuated mechanical systems are frequently encountered in several industrial and real-world applications such as robotic manipulators with elastic components, aerospace vehicles, marine vessels, and overhead container cranes. The design of accurate controllers for this kind of mechanical system can become very challenging, especially if a high level of uncertainty is involved. In this paper, an adaptive fuzzy inference system is combined with a sliding mode controller in order to enhance the control performance of uncertain underactuated mechanical systems. The proposed scheme can deal with a large class of multiple-input–multiple-output underactuated systems subject to parameter uncertainties, unmodeled dynamics, and external disturbances. The convergence properties of the resulting intelligent controller are proved by means of a Lyapunov-like stability analysis. Experimental results obtained with an overhead container crane demonstrate not only the feasibility of the proposed scheme, but also its improved efficacy for both stabilization and trajectory tracking problems.

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