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URN etd-0721110-110111 Statistics This thesis had been viewed 2706 times. Download 1277 times. Author Chia-Chen Hu Author's Email Address No Public. Department Electrical Engineering Year 2009 Semester 2 Degree Master Type of Document Master's Thesis Language English Page Count 53 Title OUTPUT TRACKING CONTROL FOR UNCERTAIN UNDERACTUATED SYSTEMS BASED ON FUZZY SLIDING MODE CONTROL APPROACH Keyword adaptive law fuzzy logic system underactuated uncertainties sliding mode sliding mode uncertainties underactuated fuzzy logic system adaptive law Abstract This thesis proposes the fuzzy sliding mode control approach to deal with the output tracking of the uncertain underactuated system. It is well-known that the presence of uncertainties which include modeling error, unmodeled dynamics, external disturbances and parameter variations is a very common problem in various kinds of engineering systems. First, the whole underactuated system is divided into several different subsystems. The first-level sliding surfaces are defined for each subsystem. Hence, we further construct a second-level surface from these first-level sliding surfaces. The fuzzy logic systems and some adaptive laws are used to approximate the unknown nonlinear functions and estimate the upper bounds of the unknown disturbances, respectively. Based on Lyapunov stability theorem and the theory of sliding mode control, the proposed control scheme not only ensures the robust stability of the uncertain underactuated system but also obtains good tracking performance. Finally, two simulation examples are given to show the validity of the proposed control method. Advisor Committee Chiang-Cheng Chiang - advisor
Files Date of Defense 2010-06-29 Date of Submission 2010-07-21