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Indexed by:期刊论文

Date of Publication:2014-01-01

Journal:ISA TRANSACTIONS

Included Journals:PubMed、SCIE、EI

Volume:53

Issue:1

Page Number:125-133

ISSN No.:0019-0578

Key Words:Backstepping; Sliding mode control; Fuzzy monitoring strategy; Finite-time

Abstract:A novel adaptive backstepping sliding mode control (ABSMC) law with fuzzy monitoring strategy is proposed for the tracking-control of a kind of nonlinear mechanical system. The proposed ABSMC scheme combining the sliding mode control and backstepping technique ensure that the occurrence of the sliding motion in finite-time and the trajectory of tracking-error converge to equilibrium point. To obtain a better perturbation rejection property, an adaptive control law is employed to compensate the lumped perturbation. Furthermore, we introduce fuzzy monitoring strategy to improve adaptive capacity and soften the control signal. The convergence and stability of the proposed control scheme are proved by using Lyaponov's method. Finally, numerical simulations demonstrate the effectiveness of the proposed control scheme. (C) 2013 ISA. Published by Elsevier Ltd. All rights reserved.