基于FNN的滑模自适应控制

Sliding Mode Adaptive Control Based on Fuzzy Neural Networks

研究一类不确定性非线性系统的直接自适应控制方法。该方法由滑模控制器和模糊神经网络构成，通过平滑切换实现自适应控制策略。仿真结果表明，这种方法既有强鲁棒性，又能有效地消除高频颤动。

Based on the Fuzzy Neural Networks(FNN), a direct adaptive control scheme for a class of nonlinear system in the presence of disturbances and model uncertainties is presented. FNN and Sliding Mode Controller(SMC) are incorporated to achieve the adaptive control strategy by the smooth transformation. This methodology enhances the system′s robustness and can eliminate the high frequency chattering efficiently while the system′s dynamical performance is improved. Stability analysis is given by using Lyapunov stability function. The simulation results demonstrate the adavantages of the proposed scheme.