Application of direct adaptive fuzzy sliding mode control into a class of non-affine discrete nonlinear systems#

Xiao-yu ZHANG

doi:10.1631/FITEE.1500318

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Application of direct adaptive fuzzy sliding mode control into a class of non-affine discrete nonlinear systems#

Regular Papers | Updated：2022-05-19

- Application of direct adaptive fuzzy sliding mode control into a class of non-affine discrete nonlinear systems#
- 一类非仿射离散非线性系统的直接自适应模糊滑模控制
- Frontiers of Information Technology & Electronic Engineering Vol. 17, Issue 12, Pages: 1331-1343(2016)
- Affiliations：
  
  School of Electronic and Information Engineering, North China Institute of Science and Technology, Beijing 101601, China
- Author bio：
  
  E-mail:xyzhang@iipc.zju.edu.cn
- Funds：
- DOI：10.1631/FITEE.1500318
  CLC： TP273
- Received：03 October 2015，
  
  Accepted：07 April 2016，
  
  Published：2016-12
- Accepted：
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Xiao-yu ZHANG. Application of direct adaptive fuzzy sliding mode control into a class of non-affine discrete nonlinear systems#[J]. Frontiers of Information Technology & Electronic Engineering, 2016, 17(12): 1331-1343.
DOI：

Xiao-yu ZHANG. Application of direct adaptive fuzzy sliding mode control into a class of non-affine discrete nonlinear systems#[J]. Frontiers of Information Technology & Electronic Engineering, 2016, 17(12): 1331-1343. DOI： 10.1631/FITEE.1500318.

摘要

针对非仿射离散非线性系统的带干扰轨迹跟踪问题，提出一种直接自适应模糊滑模控制设计。为了获得自适应特性及消除滑模控制抖振，通过使用一个动态模糊逻辑系统（Dynamic fuzzy logical system

DFLS）实现等价控制。DFLS的参数实行在线自调节。用Lyapunov分析方法验证了滑模控制的稳定性，结果表明，整个系统渐近稳定且具备自适应、消除抖振的特点。通过数值仿真和一个2自由度机械臂的应用设计仿真证明了所提出设计的良好性能。

Abstract

Direct adaptive fuzzy sliding mode control design for discrete non-affine nonlinear systems is presented for trajectory tracking problems with disturbance. To obtain adaptiveness and eliminate chattering of sliding mode control

a dynamic fuzzy logical system is used to implement an equivalent control

in which the parameters are self-tuned online. Stability of the sliding mode control is validated using the Lyapunov analysis theory. The overall system is adaptive

asymptotically stable

and chattering-free. A numerical simulation and an application to a robotic arm with two degrees of freedom further verify the good performance of the control design.

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references

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