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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。
Aiming at the problem of disturbed trajectory tracking in non-affine discrete nonlinear systems, a direct adaptive fuzzy sliding mode control design is proposed. In order to obtain adaptive characteristics and eliminate sliding mode control chattering, equivalent control is achieved by using a dynamic fuzzy logical system (DFLS). DFLS parameters online self-regulation. The stability of sliding mode control is verified by Lyapunov analysis. The results show that the whole system is asymptotically stable and self-adaptive to eliminate chattering. Simulation of the application design of a 2-DOF manipulator by numerical simulation proved the good performance of the proposed design.