A hybrid fuzzy decentralized sliding mode under-actuated control for autonomous dynamic balance of a running electrical bicycle including frictional torque and motor dynamics and in the presence of huge uncertainty.
Chih-Lyang HwangHsiu-Ming WuChing-Long ShihPublished in: FUZZ-IEEE (2010)
Keyphrases
- control scheme
- trajectory tracking control
- sliding mode
- induction motor
- control system
- control law
- control strategy
- dynamic model
- closed loop
- position control
- robot manipulators
- external disturbances
- control algorithm
- variable structure
- sliding mode controller
- sliding mode control
- trajectory tracking
- tracking error
- fuzzy controller
- control theory
- sliding surface
- force control
- control method
- neural model
- visual servoing
- nonlinear systems
- adaptive control
- stability analysis
- fuzzy logic
- optimal control
- pid controller
- adaptive fuzzy
- dynamical systems
- experimental data
- mathematical model
- dynamic programming
- inverted pendulum
- feedback control
- fuzzy control
- dynamic environments
- evolutionary algorithm