Application of Fuzzy Algorithm in Optimizing Hierarchical Sliding Mode Control for Pendubot System
Journal Title: Robotica & Management - Year 2017, Vol 22, Issue 2
Abstract
Pendubot is a classical under-actuated SIMO model for control algorithm testing in laboratory of universities. In this paper, authors design a fuzzy-sliding control for this system. The controller is designed from a new idea of application of fuzzy algorithm for optioning control parameters. The response of system on TOP position under fuzzy-sliding control algorithm is proved to be better than under sliding controller through Matlab/Simulink simulation.
Authors and Affiliations
Xuan Dung Huynh, Duong Khanh Linh Huynh, Vu Dinh Dat, Thanh Phuong Nguyen, Minh Tam Nguyen, Van Dong Hai Nguyen
Keywords
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