一类非仿射离散非线性系统的直接自适应模糊滑模控制

Xiao-yu ZHANG

doi:10.1631/FITEE.1500318

Your Location：

Home >

Browse articles >

一类非仿射离散非线性系统的直接自适应模糊滑模控制

常规文章 | Updated：2022-05-19

- 一类非仿射离散非线性系统的直接自适应模糊滑模控制
- Application of direct adaptive fuzzy sliding mode control into a class of non-affine discrete nonlinear systems#
- 信息与电子工程前沿（英文） 2016年17卷第12期页码：1331-1343
- 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：
  
  Project supported by the National Natural Science Foundation of China (No. 61304024), the Science and Technology Project of Hebei Province, China (No. 15272118), and the Fundamental Research Funds for the Central Universities, China (No. 3142015101);#A preliminary version was presented at the 12th International Conference on Fuzzy Systems and Knowledge Discovery, Zhangjiajie, China, Aug. 15–17, 2015;#A preliminary version was presented at the 12th International Conference on Fuzzy Systems and Knowledge Discovery, Zhangjiajie, China, Aug. 15–17, 2015
- DOI：10.1631/FITEE.1500318
  中图分类号： TP273
- 收稿：2015-10-03，
  
  录用：2016-4-7，
  
  纸质出版：2016-12
- Accepted：
Scan QR Code
一类非仿射离散非线性系统的直接自适应模糊滑模控制[J]. 信息与电子工程前沿（英文）, 2016,17(12):1331-1343.

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.
一类非仿射离散非线性系统的直接自适应模糊滑模控制[J]. 信息与电子工程前沿（英文）, 2016,17(12):1331-1343. DOI： 10.1631/FITEE.1500318.

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.

关键词

Keywords

references

B Allaoua , , , A Laoufi . . A novel sliding mode fuzzy control based on SVM for electric vehicles propulsion system . . Energy Procedia , , 2013 . . 36 120 - - 129 . . DOI: 10.1016/j.egypro.2013.07.015 http://doi.org/10.1016/j.egypro.2013.07.015 . .

B Castillo-Toledo , , , S di Gennaro , , , AG Loukianov , , , 等 . . Discrete time sliding mode control with application to induction motors . . Automatica , , 2008 . . 44 ( ( 12 ): ): 3036 - - 3045 . . DOI: 10.1016/j.automatica.2008.05.009 http://doi.org/10.1016/j.automatica.2008.05.009 . .

D Chen , , , Y Liu , , , X Ma , , , 等 . . Control of a class of fractional-order chaotic systems via sliding mode . . Nonl. Dyn. , , 2012a . . 67 ( ( 1 ): ): 893 - - 901 . . DOI: 10.1007/s11071-011-0002-x http://doi.org/10.1007/s11071-011-0002-x . .

D Chen , , , R Zhang , , , JC Sprott , , , 等 . . Synchronization between integer-order chaotic systems and a class of fractional-order chaotic system based on fuzzy sliding mode control . . Nonl. Dyn. , , 2012b . . 70 ( ( 2 ): ): 1549 - - 1561 . . DOI: 10.1007/s11071-012-0555-3 http://doi.org/10.1007/s11071-012-0555-3 . .

ML Corradini , , , V Fossi , , , A Giantomassi , , , 等 . . Discrete time sliding mode control of robotic manipulators: development and experimental validation . . Contr. Eng. Pract. , , 2012 . . 20 ( ( 8 ): ): 816 - - 822 . . DOI: 10.1016/j.conengprac.2012.04.005 http://doi.org/10.1016/j.conengprac.2012.04.005 . .

C Edwards , , , S Spurgeon . . Sliding Mode Control: Theory and Applications . . CRC Press , , 1998 . . .

A Farhoud , , , A Erfanian . . Fully automatic control of paraplegic FES pedaling using higher-order sliding mode and fuzzy logic control . . IEEE Trans. Neur. Syst. Rehabil. Eng. , , 2014 . . 22 ( ( 3 ): ): 533 - - 542 . . DOI: 10.1109/TNSRE.2013.2296334 http://doi.org/10.1109/TNSRE.2013.2296334 . .

K Furuta . . Sliding mode control of a discrete system . . Syst. Contr. Lett. , , 1990 . . 14 ( ( 2 ): ): 145 - - 152 . . DOI: 10.1016/0167-6911(90)90030-X http://doi.org/10.1016/0167-6911(90)90030-X . .

L Guo , , , JY Hung , , , RM Nelms . . Comparative evaluation of sliding mode fuzzy controller and PID controller for a boost converter . . Electr. Power Syst. Res. , , 2011 . . 81 ( ( 1 ): ): 99 - - 106 . . DOI: 10.1016/j.epsr.2010.07.018 http://doi.org/10.1016/j.epsr.2010.07.018 . .

TH Ho , , , KK Ahn . . Speed control of a hydraulic pressure coupling drive using an adaptive fuzzy sliding-mode control . . IEEE/ASME Trans. Mechatron. , , 2012 . . 17 ( ( 5 ): ): 976 - - 986 . . DOI: 10.1109/TMECH.2011.2153866 http://doi.org/10.1109/TMECH.2011.2153866 . .

CF Hsu , , , IF Chung , , , CM Lin . . Self-regulating fuzzy control for forward DC-DC converters using an 8-bit microcontroller . . IET Power Electron. , , 2009 . . 2 ( ( 1 ): ): 1 - - 12 . . DOI: 10.1049/iet-pel:20070179 http://doi.org/10.1049/iet-pel:20070179 . .

CL Hwang , , , HM Wu , , , CL Shih . . Fuzzy slidingmode underactuated control for autonomous dynamic balance of an electrical bicycle . . IEEE Trans. Contr. Syst. Technol. , , 2009 . . 17 ( ( 3 ): ): 658 - - 670 . . DOI: 10.1109/TCST.2008.2004349 http://doi.org/10.1109/TCST.2008.2004349 . .

AA Khandekar , , , GM Malwatkar , , , BM Patre . . Discrete sliding mode control for robust tracking of higher order delay time systems with experimental application . . ISA Trans. , , 2013 . . 52 ( ( 1 ): ): 36 - - 44 . . DOI: 10.1016/j.isatra.2012.09.002 http://doi.org/10.1016/j.isatra.2012.09.002 . .

JX Lee , , , G Vukovich . . Identification of nonlinear dynamic systems—a fuzzy logic approach and experimental demonstrations . . 1997 . . Proc. IEEE Int. Conf. on Systems, Man, and Cybernetics . . 1121 - - 1126 . . DOI: 10.1109/ICSMC.1997.638100 http://doi.org/10.1109/ICSMC.1997.638100 . .

FL Lewis , , , DM Dawson , , , CT Abdallah . . Robot Manipulator Control: Theory and Practice . . 2006 . . Marcel Dekker, Inc., USA . . . .

Y Lian , , , G Gómez , , , JJ Masdemont , , , 等 . . Stationkeeping of real Earth-Moon libration point orbits using discrete-time sliding mode control . . Commun. Nonl. Sci. Numer. Simul. , , 2014 . . 19 ( ( 10 ): ): 3792 - - 3807 . . DOI: 10.1016/j.cnsns.2014.03.026 http://doi.org/10.1016/j.cnsns.2014.03.026 . .

G Monsees , , , JMA Scherpen . . Adaptive switching gain for a discrete-time sliding mode controller . . Int. J. Contr. , , 2002 . . 75 ( ( 4 ): ): 242 - - 251 . . DOI: 10.1080/00207170110101766 http://doi.org/10.1080/00207170110101766 . .

H Morioka , , , K Wada , , , A Sabanovic , , , 等 . . Neural network based chattering free sliding mode control . . 1995 . . Proc. 34th SICE Annual Conf . . 1303 - - 1308 . . DOI: 10.1109/SICE.1995.526699 http://doi.org/10.1109/SICE.1995.526699 . .

MC Pai . . Discrete-time output feedback quasi-sliding mode control for robust tracking and model following of uncertain systems . . J. Franklin Inst. , , 2014 . . 351 ( ( 5 ): ): 2623 - - 2639 . . DOI: 10.1016/j.jfranklin.2014.01.005 http://doi.org/10.1016/j.jfranklin.2014.01.005 . .

VN Pande , , , UM Mate , , , S Kurode . . Discrete sliding mode control strategy for direct real and reactive power regulation of wind driven DFIG . . Electr. Power Syst. Res. , , 2013 . . 100 73 - - 81 . . DOI: 10.1016/j.epsr.2013.03.001 http://doi.org/10.1016/j.epsr.2013.03.001 . .

A Poursamad , , , AH Davaie-Markazi . . Robust adaptive fuzzy control of unknown chaotic systems . . Appl. Soft Comput. , , 2009 . . 9 ( ( 3 ): ): 970 - - 976 . . DOI: 10.1016/j.asoc.2008.11.014 http://doi.org/10.1016/j.asoc.2008.11.014 . .

GD Reddy , , , Y Park , , , B Bandyopadhyay , , , 等 . . Discrete-time output feedback sliding mode control for spatial control of a large PHWR . . Automatica , , 2009 . . 45 ( ( 9 ): ): 2159 - - 2163 . . DOI: 10.1016/j.automatica.2009.05.003 http://doi.org/10.1016/j.automatica.2009.05.003 . .

SZ Sarpturk , , , Y Istefanopulos , , , O Kaynak . . On the stability of discrete-time sliding mode control systems . . IEEE Trans. Autom. Contr. , , 1987 . . 32 ( ( 10 ): ): 930 - - 932 . . . .

A Shahraz , , , RB Boozarjomehry . . A fuzzy sliding mode control approach for nonlinear chemical processes . . Contr. Eng. Pract. , , 2009 . . 17 ( ( 5 ): ): 541 - - 550 . . DOI: 10.1016/j.conengprac.2008.10.011 http://doi.org/10.1016/j.conengprac.2008.10.011 . .

H Sira-Ramirez . . Nonlinear variable structure systems in sliding mode: the general case . . IEEE Trans. Autom. Contr. , , 1989 . . 34 ( ( 11 ): ): 1186 - - 1188 . . DOI: 10.1109/9.40749 http://doi.org/10.1109/9.40749 . .

VI Utkin . . Variable structure systems with sliding modes . . IEEE Trans. Autom. Contr. , , 1977 . . 22 ( ( 2 ): ): 212 - - 222 . . DOI: 10.1109/TAC.1977.1101446 http://doi.org/10.1109/TAC.1977.1101446 . .

L Wang . . Design and analysis of fuzzy identifiers of nonlinear dynamic systems . . IEEE Trans. Autom. Contr. , , 1995 . . 40 ( ( 1 ): ): 11 - - 23 . . DOI: 10.1109/9.362903 http://doi.org/10.1109/9.362903 . .

S Wang , , , D Yu . . Error analysis in nonlinear system identification using fuzzy system . . J. Softw. , , 2000 . . 11 ( ( 4 ): ): 447 - - 452 . . . .

W Wang , , , X Liu . . Fuzzy sliding mode control for a class of piezoelectric system with a sliding mode state estimator . . Mechatronics , , 2010 . . 20 ( ( 6 ): ): 712 - - 719 . . DOI: 10.1016/j.mechatronics.2010.06.009 http://doi.org/10.1016/j.mechatronics.2010.06.009 . .

HT Yau , , , CC Wang , , , CT Hsieh , , , 等 . . Nonlinear analysis and control of the uncertain micro-electromechanical system by using a fuzzy sliding mode control design . . Comput. Math. Appl. , , 2011 . . 61 ( ( 8 ): ): 1912 - - 1916 . . DOI: 10.1016/j.camwa.2010.07.019 http://doi.org/10.1016/j.camwa.2010.07.019 . .

DQ Zhang , , , SK Panda . . Chattering-free and fast response sliding mode controller . . IEE Proc. Contr. Theory Appl. , , 1999 . . 146 ( ( 2 ): ): 171 - - 177 . . DOI: 10.1049/ip-cta:19990518 http://doi.org/10.1049/ip-cta:19990518 . .

X Zhang . . Adaptive sliding mode-like fuzzy logic control for nonlinear systems . . J. Commun. Comput. , , 2009 . . 6 ( ( 1 ): ): 53 - - 60 . . . .

X Zhang , , , F Guo . . Sliding mode-like fuzzy logic control with boundary layer self-tuning for discrete nonlinear systems . . 2014 . . Proc. 7th Int. Conf. on Intelligent Systems and Knowledge Engineering . . 479 - - 490 . . DOI: 10.1007/978-3-642-37829-4_41 http://doi.org/10.1007/978-3-642-37829-4_41 . .

X Zhang , , , HY Su . . Sliding mode variable structure state norm control of SISO linear systems . . Contr. Eng. China , , 2004 . . 11 ( ( 5 ): ): 413 - - 418 . . . .

X Zhang , , , W Chen , , , B Shen . . Direct adaptive fuzzy sliding mode control for a class of non-affine discrete nonlinear systems . . 2015 . . Proc. 12th Int. Conf. on Fuzzy Systems and Knowledge Discovery . . 355 - - 360 . . DOI: 10.1109/FSKD.2015.7381962 http://doi.org/10.1109/FSKD.2015.7381962 . .

MC Zhu , , , YC Li . . Decentralized adaptive fuzzy sliding mode control for reconfigurable modular manipulators . . Int. J. Robust Nonl. Contr. , , 2010 . . 20 ( ( 4 ): ): 472 - - 488 . . DOI: 10.1002/rnc.1444 http://doi.org/10.1002/rnc.1444 . .

浏览量

Downloads

CSCD

文章被引用时，请邮件提醒。

Submit

工具集

关联资源

${\mathit{\boldsymbol{H}}_\infty }$ reference tracking control design for a class of nonlinear systems with time-varying delays

Robust synchronization of chaotic systems using sliding mode and feedback control