Fuzzy adaptive backstepping sliding mode control of the cart-pendulum system - Université Polytechnique des Hauts-de-France Accéder directement au contenu
Communication Dans Un Congrès Année : 2015

Fuzzy adaptive backstepping sliding mode control of the cart-pendulum system

Résumé

A novel adaptive backstepping sliding mode control (ABSMC) law with fuzzy monitoring strategy is proposed for the tracking control of a cart-pendulum system. The proposed ABSMC scheme combining the sliding mode control and the backstepping technique, ensure that the occurrence of the sliding motion in finite time and the trajectory of the tracking error converge to equilibrium point. Furthermore, we introduce fuzzy monitoring strategy to approximate the unknown nonlinear functions of the system model and moreover to approximate the switching control term of the sliding control in order to resolve the chattering problem. The convergence and stability of the proposed control scheme are proved using Lyapunov's method. Finally many simulation results for the cart-Pendulum system are given to illustrate the good tracking performances.
Fichier principal
Vignette du fichier
Behih2015.pdf (540.7 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-03658812 , version 1 (23-09-2022)

Licence

Paternité - Pas d'utilisation commerciale

Identifiants

Citer

Khalissa Behih, Djamila Zehar, Khier Benmahammed, Abdelmalik Taleb-Ahmed. Fuzzy adaptive backstepping sliding mode control of the cart-pendulum system. 3rd International Conference on Control, Engineering & Information Technology (CEIT), May 2015, Tlemcen, Algeria. pp.1-6, ⟨10.1109/CEIT.2015.7233181⟩. ⟨hal-03658812⟩
22 Consultations
46 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More