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Front. Inform. Technol. Electron. Eng.  2016, Vol. 17 Issue (12): 1331-1343    DOI: 10.1631/FITEE.1500318
    
一类非仿射离散非线性系统的直接自适应模糊滑模控制
Xiao-yu ZHANG
School of Electronic and Information Engineering, North China Institute of Science and Technology, Beijing 101601, China
Application of direct adaptive fuzzy sliding mode control into a class of non-affine discrete nonlinear systems
Xiao-yu ZHANG
School of Electronic and Information Engineering, North China Institute of Science and Technology, Beijing 101601, China
 全文: PDF 
摘要： 概要：针对非仿射离散非线性系统的带干扰轨迹跟踪问题，提出一种直接自适应模糊滑模控制设计。为了获得自适应特性及消除滑模控制抖振，通过使用一个动态模糊逻辑系统（Dynamic fuzzy logical system, DFLS）实现等价控制。DFLS的参数实行在线自调节。用Lyapunov分析方法验证了滑模控制的稳定性，结果表明，整个系统渐近稳定且具备自适应、消除抖振的特点。通过数值仿真和一个2自由度机械臂的应用设计仿真证明了所提出设计的良好性能。
关键词： 非线性系统;  离散系统;  动态模糊逻辑系统;  直接自适应;  滑模控制    
Abstract: Direct adaptive fuzzy sliding mode control design for discrete non-affine nonlinear systems is presented for trajectory tracking problems with disturbance. To obtain adaptiveness and eliminate chattering of sliding mode control, a dynamic fuzzy logical system is used to implement an equivalent control, in which the parameters are self-tuned online. Stability of the sliding mode control is validated using the Lyapunov analysis theory. The overall system is adaptive, asymptotically stable, and chattering-free. A numerical simulation and an application to a robotic arm with two degrees of freedom further verify the good performance of the control design.
Key words: Nonlinear system    Discrete system    Dynamic fuzzy logical system    Direct adaptive    Sliding mode control
收稿日期: 2015-10-03 出版日期: 2016-12-13
CLC:  TP273  
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Xiao-yu ZHANG

引用本文:

Xiao-yu ZHANG. Application of direct adaptive fuzzy sliding mode control into a class of non-affine discrete nonlinear systems. Front. Inform. Technol. Electron. Eng., 2016, 17(12): 1331-1343.

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http://www.zjujournals.com/xueshu/fitee/CN/10.1631/FITEE.1500318    或    http://www.zjujournals.com/xueshu/fitee/CN/Y2016/V17/I12/1331

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[2] Li-li Li, Ying Liu, Qi-guo Yao. 基于滑模和反馈控制的鲁棒混沌系统同步[J]. Front. Inform. Technol. Electron. Eng., 2014, 15(3): 211-222.