A design scheme of adaptive fuzzy controller for a class of uncertain MIMO nonlinear systems with unknown dead-zones and a triangular control structure is proposed in this pa-per. The design is based on the principle ...A design scheme of adaptive fuzzy controller for a class of uncertain MIMO nonlinear systems with unknown dead-zones and a triangular control structure is proposed in this pa-per. The design is based on the principle of sliding mode control and the property of Nussbaum function. The approach does not require a priori knowledge of the signs of the control gains and the upper bounds and lower bounds of dead-zone parameters to be known a priori. By introducing the integral-type Lyapunov function and adopting the adaptive compensation term of the upper bound of the optimal approximation error and the dead-zone disturbance, the closed-loop control system is proved to be semi-globally stable in the sense that all signals involved are bounded, with tracking errors converging to zero.展开更多
To alleviate the chattering problem, a new type of fuzzy global sliding mode controller （FGSMC） is presented. In this controller, the switching gain is estimated by fuzzy logic system based on the reachable conditio...To alleviate the chattering problem, a new type of fuzzy global sliding mode controller （FGSMC） is presented. In this controller, the switching gain is estimated by fuzzy logic system based on the reachable conditions of sliding mode controller（SMC）, and genetic algorithm （GA） is used to optimize scaling factor of the switching gain, thus the switch chattering of SMC can be alleviated. Moreover, global sliding mode is realized by designing an exponential dynamic sliding surface. Simulation and real-time application for flight simulator servo system with Lugre friction are given to indicate that the proposed controller can guarantee high robust performance all the time and can alleviate chattering phenomenon effectively.展开更多
基金Supported by National Natural Science Foundation of P.R.China(60074013), the Foundation of the Education Bureau of JiangsuProvince (KK0310067&05KJB520152), and the Foundation of Infor-mation Science Subject Group of Yangzhou University (ISG 030606).
文摘A design scheme of adaptive fuzzy controller for a class of uncertain MIMO nonlinear systems with unknown dead-zones and a triangular control structure is proposed in this pa-per. The design is based on the principle of sliding mode control and the property of Nussbaum function. The approach does not require a priori knowledge of the signs of the control gains and the upper bounds and lower bounds of dead-zone parameters to be known a priori. By introducing the integral-type Lyapunov function and adopting the adaptive compensation term of the upper bound of the optimal approximation error and the dead-zone disturbance, the closed-loop control system is proved to be semi-globally stable in the sense that all signals involved are bounded, with tracking errors converging to zero.
基金This project is supported by Aeronautics Foundation of China (No. 00E51022)
文摘To alleviate the chattering problem, a new type of fuzzy global sliding mode controller （FGSMC） is presented. In this controller, the switching gain is estimated by fuzzy logic system based on the reachable conditions of sliding mode controller（SMC）, and genetic algorithm （GA） is used to optimize scaling factor of the switching gain, thus the switch chattering of SMC can be alleviated. Moreover, global sliding mode is realized by designing an exponential dynamic sliding surface. Simulation and real-time application for flight simulator servo system with Lugre friction are given to indicate that the proposed controller can guarantee high robust performance all the time and can alleviate chattering phenomenon effectively.
