hrcak mascot   Srce   HID

Izvorni znanstveni članak
https://doi.org/10.1080/00051144.2018.1521568

A robust type-2 fuzzy sliding mode controller for disturbed MIMO nonlinear systems with unknown dynamics

Nabil Nafia ; Laboratory of Electric System and Telecommunication (LSET), Faculty of Sciences and Techniques Guéliz (FSTG), University Cadi Ayyad, Marrakech, Morocco
Abdeljalil El Kari ; Laboratory of Electric System and Telecommunication (LSET), Faculty of Sciences and Techniques Guéliz (FSTG), University Cadi Ayyad, Marrakech, Morocco
Hassan Ayad ; Laboratory of Electric System and Telecommunication (LSET), Faculty of Sciences and Techniques Guéliz (FSTG), University Cadi Ayyad, Marrakech, Morocco
Mostafa Mjahed ; Royal School of Aeronautic (ERA), Marrakech, Morocco

Puni tekst: engleski, pdf (4 MB) str. 194-207 preuzimanja: 148* citiraj
APA 6th Edition
Nafia, N., El Kari, A., Ayad, H. i Mjahed, M. (2018). A robust type-2 fuzzy sliding mode controller for disturbed MIMO nonlinear systems with unknown dynamics. Automatika, 59 (2), 194-207. https://doi.org/10.1080/00051144.2018.1521568
MLA 8th Edition
Nafia, Nabil, et al. "A robust type-2 fuzzy sliding mode controller for disturbed MIMO nonlinear systems with unknown dynamics." Automatika, vol. 59, br. 2, 2018, str. 194-207. https://doi.org/10.1080/00051144.2018.1521568. Citirano 24.10.2020.
Chicago 17th Edition
Nafia, Nabil, Abdeljalil El Kari, Hassan Ayad i Mostafa Mjahed. "A robust type-2 fuzzy sliding mode controller for disturbed MIMO nonlinear systems with unknown dynamics." Automatika 59, br. 2 (2018): 194-207. https://doi.org/10.1080/00051144.2018.1521568
Harvard
Nafia, N., et al. (2018). 'A robust type-2 fuzzy sliding mode controller for disturbed MIMO nonlinear systems with unknown dynamics', Automatika, 59(2), str. 194-207. https://doi.org/10.1080/00051144.2018.1521568
Vancouver
Nafia N, El Kari A, Ayad H, Mjahed M. A robust type-2 fuzzy sliding mode controller for disturbed MIMO nonlinear systems with unknown dynamics. Automatika [Internet]. 2018 [pristupljeno 24.10.2020.];59(2):194-207. https://doi.org/10.1080/00051144.2018.1521568
IEEE
N. Nafia, A. El Kari, H. Ayad i M. Mjahed, "A robust type-2 fuzzy sliding mode controller for disturbed MIMO nonlinear systems with unknown dynamics", Automatika, vol.59, br. 2, str. 194-207, 2018. [Online]. https://doi.org/10.1080/00051144.2018.1521568

Sažetak
In this paper, in order to achieve the best tracking control of a class of multi-input multi-output (MIMO) nonlinear systems with unknown dynamics and unknown disturbances, a new robust adaptive interval type-2 fuzzy sliding mode control law (AIT2-FSMCL) has been proposed. Based on developing interval type-2 fuzzy local models for some operating points of the controlled system, an interval type-2 fuzzy logic system (IT2-FLS) has been designed to better estimate the unknown nonlinear dynamics of the studied system. Then, to enhance the tracking control performance and ensure the system robustness in the presence of approximation errors, parameter variations, un-modelled dynamics and external disturbances, a new AIT2-fuzzy sliding
mode system (AIT2-FSMS), has been introduced. In order to avoid the chattering phenomenon while keeping the system performance, the AIT2-FSMS uses three AIT2-fuzzy logic systems (AIT2-
FLSs) to estimate the optimal gains of the AIT2-FSMCL. The adaptation laws have been derived using the Lyapunov stability approach. The mathematical proof shows that the closed-loop system with the proposed control approach is globally asymptotically stable. Finally, the proposed design method is applied to a two-link robot arm to validate the effectiveness of the proposed control approach.

Ključne riječi
Type-2 fuzzy systems; nonlinear systems; sliding mode control; adaptive control

Hrčak ID: 225194

URI
https://hrcak.srce.hr/225194

Posjeta: 233 *