An adaptive fuzzy PID control for a class of uncertain nonlinear underactuated systems

Nidhal Cherrat 1 Hamid Boubertakh 1 Hichem Arioui 2
1 Laboratoire d'Automatique de Jijel
2 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes
Abstract : In this work an adaptive PID control law is used to approximate a model-based robust sliding mode control law to deal with a class of uncertain underactuated nonlinear systems. Therefore, a fuzzy system is used to learn online the ideal PID control gains regarding the desired performances. So, the fuzzy system parameters are adjusted online by a robust adaptation law in order to minimize the error between the unknown ideal controller and the PID controller. The stability of the closed-loop system is proven analytically based on the Lyapunov approach. A simulation example is presented to illustrate the efficiency of the proposed approach.
Keywords : adaptation law fuzzy systems Lyapunov stability PID controller uncertain undeactauted systems
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Conference papers
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https://hal.archives-ouvertes.fr/hal-01469499
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Submitted on : Thursday, February 16, 2017 - 3:02:16 PM
Last modification on : Monday, October 28, 2019 - 10:50:22 AM

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UNIV-EVRY | IBISC | IBISC-SIBI | TDS-MACS | UNIV-PARIS-SACLAY

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Nidhal Cherrat, Hamid Boubertakh, Hichem Arioui. An adaptive fuzzy PID control for a class of uncertain nonlinear underactuated systems. 8th International Conference on Modelling, Identification and Control (ICMIC 2016), Nov 2016, 8th International Conference on Modelling, Identification and Control (ICMIC 2016), Algeria. pp.677--682, ⟨10.1109/ICMIC.2016.7804197⟩. ⟨hal-01469499⟩

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