【摘要】 为研究不确定非完整动力学系统的收敛性,根据速度跟踪原理,对其提出一种新的自适应模糊滑模控制器。该控制器在存在的参数不确定性与外界干扰的情况下,能使系统的广义坐标与广义速度收敛到预先给定的界内。仿真算例验证了所提出方法的有效性。更多还原

【Abstract】 Based on the velocity tracking principle, a new adaptive fuzzy sliding-mode controller is presented for ensuring convergence of uncertain dynamic nonholonomic systems with unknown paremeters and external disturbances. The new controller can make the generalized co-ordinates and the generalized velocities of the closed-loop system converge to preset bounds. The simulation results show the effectiveness of this method.更多还原