Please wait a minute...
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  
服务  
把本文推荐给朋友
加入引用管理器
E-mail Alert
RSS
作者相关文章  
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.

链接本文:

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

[1] Mei-qin Liu, Hai-yang Chen, Sen-lin Zhang. 一类时变时滞非线性系统的H参考跟踪控制设计[J]. Front. Inform. Technol. Electron. Eng., 2015, 16(9): 759-768.
[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.