具有非线性输入的鲁棒自适应模糊滑模控制  

Robust adaptive fuzzy sliding mode control with nonlinear input

作　　者：王芹[1] 张天平[1] 文慧[1] 

机构地区：[1]扬州大学信息工程学院自动化专业,江苏扬州225009

出　　处：《电机与控制学报》2008年第1期52-57,共6页Electric Machines and Control

基　　金：国家自然科学基金项目(60774017);江苏省教育厅自然科学基金资助项目(07KJB520133)

摘　　要：针对一类具有死区非线性输入的SISO非线性系统,基于滑模控制原理,提出了一种稳定自适应模糊控制器设计方案。该方案通过使用积分型Lyapunov函数避免了反馈线性化方法中可能出现的控制器奇异性问题,运用两阶段法构造两个Lyapunov函数,确定出用于建模的有界闭区域,再证明跟踪误差收敛到零。通过理论分析,证明了闭环控制系统全局一致终结有界;仿真结果表明了该方法的有效性。A new scheme of an adaptive fuzzy controller for a class of uncertain SISO nonlinear system with dead-zone nonlinear input is proposed in this paper. The design is based on the principle of sliding mode control. By using appropriate integral-type Lyapunov function, the possible controller singularity problem in feedback linearization techniques is avoided. At the same time, two Lyapunov functions are constituted. One determines the bounded region used in modeling, and the other demonstrates that the output tracking error converges to zero. By theoretical analysis, the clesed-loop control system is proved to be globally uniformly ultimately bounded （GUUB）. Simulation results demonstrate the effectiveness of the approach.

关 键 词：非线性输入 滑模控制 全局一致终结有界 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]