naa a22 4500 510823459 CHVBK 20180411083545.0 cr unu---uuuuu 180411e20131001xx s 000 0 eng 10.1007/s12541-013-0229-1 doi (NATIONALLICENCE)springer-10.1007/s12541-013-0229-1 A novel fuzzy second-order sliding mode observer-controller for a T-S fuzzy system with an application for robot control [Elektronische Daten] [Mien Van, Hee-Jun Kang, Young-Soo Suh] This paper investigates an algorithm for the tracking performance of a Takagi-Sugeno (T-S) fuzzy system using the second-order sliding mode observer/controller technique. First, the original second-order nonlinear system is represented by a T-S fuzzy model, in which most of the parameters can be computed offline. A novel fuzzy second-order sliding mode observer (FSOSMO), which combines the T-S fuzzy model and the second-order sliding mode observer (SOSMO), is then designed to estimate the velocity. Also, a new fuzzy second-order sliding mode control (FSOSMC), which combines the T-S fuzzy model and the second-order sliding mode control (SOSMC), is proposed to stabilize and guarantee the exact motion tracking for the T-S fuzzy system. By integrating the T-S fuzzy model with SOSMO/C, the resulting observer/controller scheme preserves the advantages of both techniques, such as the low online computational burden of the T-S fuzzy model, and low chattering, fast response, and finite time convergence of the SOSMO/C. Moreover, the stability and convergence of the proposed closed loop observer-based controller strategy is theoretically proven by the Lyapunov method. Finally, the simulation results of a two-link robot manipulator are presented to demonstrate the effectiveness of the proposed approach. Korean Society for Precision Engineering and Springer-Verlag Berlin Heidelberg, 2013 Nonlinear model nationallicence Robust control nationallicence Robot manipulators nationallicence Second-order sliding mode controller/observer nationallicence Takagi-Sugeno (T-S) fuzzy model nationallicence FSMC : Fuzzy sliding mode control nationallicence FSOSMC : Fuzzy second-order sliding mode control nationallicence FSOSMO : Fuzzy second-order sliding mode observer nationallicence LMI : Linear matrix inequalities nationallicence SM : Sliding mode nationallicence SMC : Sliding mode control nationallicence SMO : Sliding mode observer nationallicence SMC/O : Sliding mode controller/observer nationallicence SOSM : Second-order sliding mode nationallicence HOSM : High-order sliding mode nationallicence SOSMO : Second-order sliding mode observer nationallicence SOSMC : Second-order sliding mode controller nationallicence SOSMO/C : Second-order sliding mode observer/controller nationallicence PDC : Parallel distributed control nationallicence Van Mien Graduate School of Electrical Engineering, University of Ulsan, 689-749, Ulsan, South Korea aut Kang Hee-Jun School of Electrical Engineering, University of Ulsan, 689-749, Ulsan, South Korea aut Suh Young-Soo School of Electrical Engineering, University of Ulsan, 689-749, Ulsan, South Korea aut International Journal of Precision Engineering and Manufacturing Springer Berlin Heidelberg 14/10(2013-10-01), 1703-1711 2234-7593 14:10<1703 2013 14 12541 https://doi.org/10.1007/s12541-013-0229-1 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s12541-013-0229-1 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Van Mien Graduate School of Electrical Engineering, University of Ulsan, 689-749, Ulsan, South Korea aut NATIONALLICENCE 700 1- Kang Hee-Jun School of Electrical Engineering, University of Ulsan, 689-749, Ulsan, South Korea aut NATIONALLICENCE 700 1- Suh Young-Soo School of Electrical Engineering, University of Ulsan, 689-749, Ulsan, South Korea aut NATIONALLICENCE 773 0- International Journal of Precision Engineering and Manufacturing Springer Berlin Heidelberg 14/10(2013-10-01), 1703-1711 2234-7593 14:10<1703 2013 14 12541 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer