基于T-S模型的输出反馈滑模控制及应用

Output Feedback Sliding Mode Control Based on T-S Model and Its Application

为了使系统满足品质要求并对不确定因素具有较强的鲁棒性,采用滑模控制方法。建立被控对象T-S模糊模型。针对系统状态不完全可测特点,采用迭代线性矩阵不等式方法,利用输出信息构造滑模面。根据系统品质要求,采用参数鲁棒设计方法,配置所需极点,确定相应在参数空间的映射关系。应用平行分布补偿算法,根据映射产生的参数样本训练T-S模糊控制器,实现等效控制律。在此基础上应用高增益方法设计切换控制律,保证系统对满足匹配条件的不确定因素具有较理想的自适应性。最后,直升机模型的仿真结果表明,方法具有很好的控制效果。

This paper adopts sliding mode control method to make the system satisfy the characteristic requirements and robust under uncertainties conditions. A T - S fuzzy model of the controlled object is built. As part of the system state variables cannot be measured, iterative linear matrix inequality （ILMI） is applied to build the sliding manifold based on system output. According to the requirements of system performance, this paper adopts parameter robust design method to configure the needed pole, and mapping of parameters is computed correspondingly. Using PDC method, T- S fuzzy network controller is trained with mapping parameters to achieve equivalent control law. Furthermore, high gain method is designed to implement switch control law so that the system is adaptive to matching uncertainties. At last, the simulation using helicopter model shows that the method provides a good result.