一类非线性系统的模糊滑模多模型自适应控制

Adaptive Control of A Class of Nonlinear Systems Using Fuzzy Sliding Mode Multiple Models

提出一种模糊滑模多模型自适应控制器的设计方案.该方案引入最优逼近误差的自适应补偿项来消除建模误差对系统控制带来的影响,并通过监督控制器来保证闭环系统所有信号有界.利用第一类模糊系统对每个模型进行逼近,从而能同时调节参数的维数和初始值.引入多李亚普诺夫函数进行理论分析,证明了基于切换的闭环系统是稳定的,系统跟踪误差收敛到零.

This paper presents a design of multi model adaptive fuzzy sliding mode controller is introduced.The adaptive compensation term of the optimal approximation error to eliminate the modeling errors for the system control of the impact,and through the supervisory controller to ensure that all signals in the closed-loop system are bounded.The approximation of each model using the first type fuzzy systems,which can be the initial dimension and at the same time adjust the parameter values.Li Yapu introduced multiple Lyapunov function theory analysis,it is proved that the closed-loop system based on switching system is stable and the tracking error converges to zero.