JZUS - Journal of Zhejiang University SCIENCE

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

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

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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.

一类非仿射离散非线性系统的直接自适应模糊滑模控制

概要：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。

关键词：非线性系统；离散系统；动态模糊逻辑系统；直接自适应；滑模控制

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