一类非确定欠驱动系统的串级模糊滑模控制  

Cascade fuzzy sliding mode control for a class of uncertain underactuated systems

作　　者：王伟[1] 易建强[2] 赵冬斌 柳晓菁[2] 

机构地区：[1]北京理工大学信息科学技术学院,北京100081 [2]中国科学院自动化研究所复杂系统与智能科学重点实验室,北京100080

出　　处：《控制理论与应用》2006年第1期53-59,共7页Control Theory & Applications

基　　金：国家自然科学基金资助项目(60575047)

摘　　要：本文针对一类含有非确定项的欠驱动系统提出了一种串级模糊滑模控制方法.该方法先选取状态变量中两个相关联的系统状态构造第一级滑动平面,然后将第一级滑模函数作为一个广义状态,与剩下系统状态中的一个状态构造第二级滑动平面,直到所有的系统状态都包含在内构造最后一级滑动平面.同时考虑到系统模型中存在的不确定项,利用模糊逻辑的逼近功能进行估计,文中采用Lyapunov方法求取了控制器的控制律以及模糊逼近的有关参数的自适应律.该串级模糊滑模控制器能够保证各级滑动平面的稳定性,并且在仿真实验中得到了验证.In this paper, a new cascade fuzzy sliding-mode controller （CFSMC） for a class of uncertain underactuated systems is presented. Firstly, the system states are divided into several parts, and two related states are chosen to construct the first-level sliding-mode surface which can be considered as a general state variable. Secondly, the first-level sliding plane and one of the remaining state variables are used to construct the second-level sliding surface. This process continues till the last-level sliding surface is obtained. Considering there are uncertainties in the system＇s model, fuzzy logic is adopted as an approximator to identify the uncertainties. Using Lyapunov law, we derive the sliding-mode control law and the related parameters adaptive law of fuzzy approximator. The CFSMC can guarantee the stability of all the sliding planes, and the simulation results show the validity of this method.

关 键 词：串级 滑模控制 模糊逻辑 欠驱动系统 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]