A new scheme of direct adaptive fuzzy controller for a class of nonlinear systems with unknown triangular control gain structure is proposed. The design is based on the principle of sliding mode control and the approx...A new scheme of direct adaptive fuzzy controller for a class of nonlinear systems with unknown triangular control gain structure is proposed. The design is based on the principle of sliding mode control and the approximation capability of the first type fuzzy systems. By introducing integral-type Lyapunov function and adopting the adaptive compensation term of optimal approximation error, the closed-loop control system is proved to be globally stable, with tracking error converging to zero. Simulation results demonstrate the effectiveness of the approach.展开更多
基金The National Natural Science Foundation of PRC (60074013) the Natural Science Foundation of Education Bureau of Jiangsu Province (00KJB510006 & 00KJB470006).
文摘A new scheme of direct adaptive fuzzy controller for a class of nonlinear systems with unknown triangular control gain structure is proposed. The design is based on the principle of sliding mode control and the approximation capability of the first type fuzzy systems. By introducing integral-type Lyapunov function and adopting the adaptive compensation term of optimal approximation error, the closed-loop control system is proved to be globally stable, with tracking error converging to zero. Simulation results demonstrate the effectiveness of the approach.