Fuzzy-Based Controller Synthesis and Optimization for Underactuated Mechanical Systems With Nonholonomic Servo Constraints

• DOI: 10.1109/tfuzz.2022.3143003
• Publication Date: 2022-01-13T20:35:05Z
• Authors: Xiaolong Chen; Jun Ma; Hao Sun; Shengchao Zhen; Han Zhao; Abdullah Al Mamun; Tong Heng Lee
• Keywords: Underactuation; Nonholonomic system; Servomechanism

This article investigates the trajectory tracking problem of underactuated mechanical systems (UMSs) with companion nonholonomic servo constraints and uncertainties. For such motion tasks, existing approaches in literature attempt unrealistically to furnish a reliable closed-form solution, rendering it difficult have high-quality performance theoretical support. In addition, uncertainties typically pose substantial difficulty controller synthesis. Here, by invoking methodology fuzzy sets, UMSs are elegantly represented; this, formulation becomes that closer link between uncertain dynamical model real world is established. The reference trajectories regarded appropriately as constraints, subsequently an adaptive robust designed accomplish task from specific viewpoint constraint tracking. As supported rigorous proofs, solution proposed obtained guaranteed Lyapunov stability. Leveraging on global optimizer gain parameter can be determined, which shown exhibit several important properties including existence uniqueness. Finally, numerical example presented demonstrate effectiveness method.