一类非线性系统的自适应模糊滑模控制

ADAPTIVE FUZZY SLIDING MODE CONTROL FOR A CLASS OF NONLINEAR SYSTEMS

对一类具有不确定性的非线性系统，根据滑模控制原理并利用模糊系统的逼近能力，提出了一种自适应模糊滑模控制系统的设计方法．控制结构中采用模糊系统自适应补偿过程的不确定性．利用李雅普诺夫理论，证明了控制算法是全局稳定的，跟踪误差可收敛到零的一个邻域内．

A scheme of an adaptive fuzzy sliding mode control system for a class of uncertain nonlinear systems is proposed in this paper. The design is based on the principle of sliding mode control and the approximation capability of fuzzy systems. The control architecture employs fuzzy systems to adaptively compensate for plant uncertainties. According to the Lyapunov theory, the algorithm is proved to be globally stable, with tracking errors converging to a neighborhood of zero.