一类MIMO非线性系统的直接自适应模糊滑模控制

Direct adaptive fuzzy sliding mode control for a class of MIMO nonlinear systems

针对一类具有下三角形函数控制增益矩阵的非线性系统,基于滑模控制原理,并利用Ⅱ型模糊系统的逼近能力,提出了一种直接自适应模糊滑模控制器设计的新方案。通过引入积分型李雅普诺夫函数及逼近误差自适应补偿项,证明了闭环系统是全局稳定的,跟踪误差收敛到零。仿真结果表明了该方法的有效性。

A new scheme of direct adaptive fuzzy sliding mode controller was proposed for a class of nonlinear systems with a triangular control structure. The design was based on the principle of sliding mode control and the approximation capability of the second type fuzzy systems. By introducing integral-type Lyapunov function and adopting the adaptive compensation term of optimal approximation error, the closed-loop control system was proved to be globally stable, with tracking error converging to zero. Simulation results demonstrate the effectiveness of the approach.