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

作     者：Xiao-yu ZHANG 

作者机构：School of Electronic and Information Engineering North China Institute of Science and Technology Beijing 101601 China 

基　　金：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) 

出 版 物：《Frontiers of Information Technology & Electronic Engineering》 (信息与电子工程前沿（英文版）)

年 卷 期：2016年第17卷第12期

页      码：1331-1343页

摘      要：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.

主 题 词：Nonlinear system Discrete system Dynamic fuzzy logical system Direct adaptive Sliding mode control 

学科分类：08[工学] 0835[0835] 0802[工学-机械学] 080201[080201] 

核心收录：

D　O　I：10.1631/FITEE.1500318

馆 藏 号：203210398...