Adaptive fuzzy predictive sliding control of uncertain nonlinear systems with bound-known input delay

作者：Khazaee Mostafa; Markazi Amir H D^*; Omidi Ehsan

来源：ISA Transactions, 2015, 59: 314-324.

DOI：10.1016/j.isatra.2015.10.010

• Uncertain nonlinear system
• Input delay
• Adaptive predictor
• Adaptive fuzzy sliding mode control
• Bound-known delay

In this paper, a new Adaptive Fuzzy Predictive Sliding Mode Control (AFP-SMC) is presented for nonlinear systems with uncertain dynamics and unknown input delay. The control unit consists of a fuzzy inference system to approximate the ideal linearization control, together with a switching strategy to compensate for the estimation errors. Also, an adaptive fuzzy predictor is used to estimate the future values of the system states to compensate for the time delay. The adaptation laws are used to tune the controller and predictor parameters, which guarantee the stability based on a Lyapunov-Krasovskii functional. To evaluate the method effectiveness, the simulation and experiment on an overhead crane system are presented. According to the obtained results, AFP-SMC can effectively control the uncertain nonlinear systems, subject to input delays of known bound.

• 出版日期2015-11