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Front. Inform. Technol. Electron. Eng.  2016, Vol. 17 Issue (12): 1331-1343    DOI: 10.1631/FITEE.1500318
    
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
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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     
Received: 03 October 2015      Published: 13 December 2016
CLC:  TP273  
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Cite this article:

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


一类非仿射离散非线性系统的直接自适应模糊滑模控制

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 
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