title: Adaptive fuzzy predictive sliding control of uncertain nonlinear systems with bound-known input delay.
abstract: In this paper, a new Adaptive Fuzzy Predictive Sliding Mode Control (AFP-SMC) is presented for nonlinear systems with uncertain dynamics and unknown input delay. The control unit consists of a fuzzy inference system to approximate the ideal linearization control, together with a switching strategy to compensate for the estimation errors. Also, an adaptive fuzzy predictor is used to estimate the future values of the system states to compensate for the time delay. The adaptation laws are used to tune the controller and predictor parameters, which guarantee the stability based on a Lyapunov-Krasovskii functional. To evaluate the method effectiveness, the simulation and experiment on an overhead crane system are presented. According to the obtained results, AFP-SMC can effectively control the uncertain nonlinear systems, subject to input delays of known bound.
authors.affiliation: Digital Control Laboratory, School of Mechanical Engineering, Iran University of Science and Technology, Narmak, 16844 Tehran, Iran. Electronic address: khazaee_m@iust.ac.ir.
authors.forename: Mostafa
authors.initials: M
authors.lastname: Khazaee
authors.affiliation: Digital Control Laboratory, School of Mechanical Engineering, Iran University of Science and Technology, Narmak, 16844 Tehran, Iran. Electronic address: markazi@iust.ac.ir.
authors.forename: Amir H D
authors.initials: AH
authors.lastname: Markazi
authors.affiliation: Nonlinear Intelligent Structures Laboratory, Department of Mechanical Engineering, The University of Alabama, Box 870276, Tuscaloosa, AL 35487, USA. Electronic address: eomidi@crimson.ua.edu.
authors.forename: Ehsan
authors.initials: E
authors.lastname: Omidi
keywords: Adaptive fuzzy sliding mode control; Adaptive predictor; Bound-known delay; Input delay; Uncertain nonlinear system