Full Text:   <2938>

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CLC number: TP273

On-line Access: 2024-08-27

Received: 2023-10-17

Revision Accepted: 2024-05-08

Crosschecked: 2016-12-02

Cited: 0

Clicked: 8540

Citations:  Bibtex RefMan EndNote GB/T7714

 ORCID:

Xiao-yu ZHANG

http://orcid.org/0000-0003-1436-8116

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Frontiers of Information Technology & Electronic Engineering  2016 Vol.17 No.12 P.1331-1343

http://doi.org/10.1631/FITEE.1500318


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


Author(s):  Xiao-yu ZHANG

Affiliation(s):  Department of Computer Engineering and Information Technology, Payame Noor University, Tehran, Iran

Corresponding email(s):   xyzhang@iipc.zju.edu.cn

Key Words:  Nonlinear system, Discrete system, Dynamic fuzzy logical system, Direct adaptive, Sliding mode control



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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