2022/05/23 by Josiane Maria de Macedo Fernande, Marcelo Costa Tanaka, Fernande, Josiane Maria de Macedo +5
Computer Science · Engineering · Mathematics · #Adaptive Control of Nonlinear Systems #Control and Dynamics of Mobile Robots #Dynamics and Control of Mechanical Systems #FOS: Electrical engineering #FOS: Mathematics #Optimization and Control (math.OC) #Systems and Control (eess.SY) #cs.SY #eess.SY #electronic engineering #information engineering #math.OC
paper · pdf · doi:10.48550/arxiv.2205.11585
References added. This is a slightly expanded version of the work originally presented at DINAME 2017 - 17th International Symposium on Dynamic Problems of Mechanics, 2017, São Sebastião, Brazil
openalex publication_date 2022/05/23 · arxiv created 2022/06/10 · arxiv updated 2022/06/13 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper presents an intelligent controller for uncertain underactuated nonlinear systems. The adopted approach is based on sliding mode control and enhanced by an artificial neural network to cope with modeling inaccuracies and external disturbances that can arise. The sliding surfaces are defined as a linear combination of both actuated and unactuated variables. A radial basis function is added to compensate the performance drop when, in order to avoid the chattering phenomenon, the sign function is substituted by a saturation function in the conventional sliding mode controller. An application of the proposed scheme is introduced for an inverted pendulum, in order to illustrate the controller design method, and numerical results are presented to demonstrate the improved performance of the resulting intelligent controller.