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標題: Adaptive Fuzzy Switched Swing-Up and Sliding Control for the Double-Pendulum-and-Cart System
作者: Tao, C.W.
Taur, J.
Chang, J.H.
Su, S.F.
關鍵字: Adaptive mechanism
double-pendulum-and-cart system
fuzzy sliding-mode
switched control
double-inverted pendulum
variable-structure systems
mode controller
期刊/報告no:: Ieee Transactions on Systems Man and Cybernetics Part B-Cybernetics, Volume 40, Issue 1, Page(s) 241-252.
摘要: In this paper, an adaptive fuzzy switched swing-up and sliding controller (AFSSSC) is proposed for the swing-up and position controls of a double-pendulum-and-cart system. The proposed AFSSSC consists of a fuzzy switching controller (FSC), an adaptive fuzzy swing-up controller (FSUC), and an adaptive hybrid fuzzy sliding controller (HFSC). To simplify the design of the adaptive HFSC, the double-pendulum-and-cart system is reformulated as a double-pendulum and a cart subsystem with matched time-varying uncertainties. In addition, an adaptive mechanism is provided to learn the parameters of the output fuzzy sets for the adaptive HFSC. The FSC is designed to smoothly switch between the adaptive FSUC and the adaptive HFSC. Moreover, the sliding mode and the stability of the fuzzy sliding control systems are guaranteed. Simulation results are included to illustrate the effectiveness of the proposed AFSSSC.
ISSN: 1083-4419
Appears in Collections:電機工程學系所



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