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研究了一类非线性系统的一种直接自适应模糊滑模控制 ( AFSMC)问题 .首先 ,在系统的非线性动态函数满足可估计和有界两个基本假设的条件下 ,给出了此类系统基于非线性动态函数估计的一般滑模控制律设计 .然后基于目标函数梯度校正的方法 ,通过自适应机构调节模糊逻辑系统 ( FLS)的后件参数 ,所设计的自适应模糊逻辑系统 ( AFLS)能够逼近系统基于非线性动态函数估计的一般滑模控制律 .这样 ,系统的自适应模糊控制律具有一般滑模控制律的控制效果 ,同时由于 AFLS的滤波作用 ,具有消除滑模控制高频抖振的特性 .数值仿真结果证明了所设计控制律的有效性 .
A kind of direct adaptive fuzzy sliding mode control (AFSMC) problem for a class of nonlinear systems is studied. Firstly, under the condition that the nonlinear dynamic function of the system satisfies two basic assumptions, which are estimable and bounded, The system is based on the general sliding mode control law design based on nonlinear dynamic function estimation. Then based on the objective function gradient correction method, the adaptive fuzzy logic system (AFLS ) Can approximate the general sliding mode control law based on nonlinear dynamic function estimation, so the adaptive fuzzy control law of the system has the control effect of general sliding mode control law, meanwhile, because of the filtering effect of AFLS, Chattering characteristics.The numerical simulation results show the effectiveness of the proposed control law.