摘要
针对一类不确定非线性系统，分为已知名义模型和不确定模型两部分，考虑不确定因素的上界已知和未知两种情况，设计一种全局Terminal滑模和基于模糊逻辑的自适应全局Terminal滑模控制器，使得系统能够很好地跟踪参考输入，并且滑模控制的抖振在使用模糊系统逼近不确定参数上界时有所减弱，系统具有滑模控制所具有的鲁棒性。最后的仿真证明了理论分析的正确性。
An adaptive global terminal sliding mode controller based on fuzzy logic is designed for a class of uncertain nonlinear systems, which can be divided into two parts： nominal model and uncertain model. The controller can make the system track the reference input signal quickly under the condition of known or unknown upper bound of uncertainty. Fuzzy system is used to approximate the unknown upper bound of uncertainty, which weakens the chattering of sliding mode control. The controller is robust and the simulation study demonstrates the effectiveness of the theoretical analysis in the end.
