A new framework of synchronized adaptive fuzzy sliding mode control for networked under-actuated systems subjected to communication delay

Document Type : Original Article


School of Mechanical Engineering, Iran University of Science and Technology, Narmak, Tehran, Iran


A new framework of synchronized adaptive fuzzy sliding mode control (AFSMC) approach for a network of under-actuated systems (UASs) under communication time delay is presented here. The basic equations of motion of each agent for controller design and information exchange paradigm among them are considered as cascaded normal form and master/slave, respectively. A fuzzy system is applied to determine the equivalent part of the controller which is based on classical sliding mode control (SMC). Then, its robust part is improved in comparison with the conventional AFSMC so as to synchronize the agents to the leader’s state. In addition to synchronization, the proposed AFSMC improves some properties associated with the transient part of the response, especially rise-time, significantly. The proposed scheme is robust against uncertainties and unknown communication time delay, as well. Also, its implementation is so simple that different UASs can be replaced, easily. Moreover, the presented controller is completely model-free for UASs with strict feedback form dynamics and less-dependent on the dynamics of UASs with cascaded normal form.