【摘要】 针对一类非匹配非线性系统,提出一种多滑模自适应模糊控制算法。通过将参数光滑投影算法,带饱和层的滑模面设计技术以及积分型李雅普诺夫设计技术集成起来,使得算法提高了系统在抑制参数漂移、抖振现象、控制器奇异等方面的能力。算法保证闭环系统所有信号的有界性且使得跟踪误差收敛于任意设定的饱和层内。仿真结果进一步说明了算法的有效性。更多还原

【Abstract】 A multiple sliding mode adaptive fuzzy control scheme was proposed for a class of nonlinear systems with mismatched uncertainties. By combining the parameter smooth projection algorithm and the integral-type Lyapunov design technology with the sliding mode design technology with boundary layer,the performances for the system to avoid the parameter drift phenomena,the chattering phenomena,and the controller singularity problem were improved. It was proved that the tracking error converges to the prescribed boundary layer and all the signals in the closed-loop system were bounded. Simulation results demonstrate the effectiveness of the proposed algorithm.更多还原