摘要
为获得离散非线性系统的无抖振滑模控制,基于自适应模糊逻辑系统(AFLS)构建自适应模糊滑模控制。先通过在线自适应律调节AFLS的参数,使AFLS输出逼近所设计的滑模控制(SMC);然后用Lyapunov方法证明了逼近误差的收敛以及滑模的可达。对倒立摆系统的应用仿真研究结果证明了所提出方法的有效性,因此设计的离散控制器能保证滑模到达,并具有较强鲁棒性能。
In order to obtain chatter-free sliding mode control for a class of discrete nonlinear systems, an adaptive fuzzy sliding mode control （FSMC） is constructed on the basis of the adaptive fuzzy logic system （AFLS）. Firstly, the online adaptive law is applied to regulate the parameters of the AFLS, in order to make the output of the AFLS approximate to the pre-designed sliding mode control （SMC） ; then the convergence of the approximation errors and the reachability of the SMC are proofed by using the Lyapunov method. The simulation results of the inverted pendu- lum system verify the effectiveness of the presented design. Therefore, the proposed discrete controller drives the system state onto the sliding mode, and its robustness is enhanced.
出处
《智能系统学报》
CSCD
北大核心
2014年第2期197-203,共7页
CAAI Transactions on Intelligent Systems
基金
国家自然科学基金资助项目(61304024)
河北省青年科学基金资助项目(F2013508110)
中央高校基本科研业务费资助项目(3142013055)
河北省教育厅科技计划资助项目(Z2012089)
关键词
离散系统
模糊逻辑系统
滑模控制
自适应控制
非线性系统
鲁棒控制
变结构控制
抖振
discrete system
fuzzy logic system
sliding mode control
adaptive control
nonlinear systems
robustcontrol
variable structure control
chattering
