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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...
The CMAC tuning effects to improve the Hinfin control performance is proposed in this paper. The Hinfin norm is utilized for evaluating the supremum of the robust control variable such that it ensures the Lyapunov stability of the proposed control schemes. Under the Lyapunov stable criterion, we apply the novel pre-step CMAC online tuning scheme for tuning the control variable in order to improve...
In this study, an idea to the self-tuning sliding mode controller design is proposed. The proposed controller not only reduces the chatting phenomenon, but also needs less the system bounds than traditional sliding mode controllers do. The proposed self-tuning sliding mode controller can be viewed as an improved hitting controller. Besides, in order to resolve the parameter selection problem, the...
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