Fuzzy aggregated hierarchical sliding mode control for underactuated systems

@article{Qian2010FuzzyAH,
  title={Fuzzy aggregated hierarchical sliding mode control for underactuated systems},
  author={Dianwei Qian and Jianqiang Yi},
  journal={2010 IEEE International Conference on Mechatronics and Automation},
  year={2010},
  pages={196-201}
}
This paper addresses a fuzzy aggregated hierarchical sliding mode control approach for a class of underactuated systems. By capturing the physical nature of the class, an aggregated hierarchical structure of the sliding surfaces is designed. The control law is deduced from the Lyapunov direct method. The stability of the inner sliding surfaces is proven. By… CONTINUE READING