| 一类非线性系统的自适应滑模模糊控制 |
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| 引用本文： | 刘殿通,易建强,谭民.一类非线性系统的自适应滑模模糊控制[J].自动化学报,2004,30(1):144-150. |
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| 作者姓名： | 刘殿通 易建强 谭民 |
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| 作者单位： | 1.中国科学院自动化研究所复杂系统与智能科学重点实验室,北京 |
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| 基金项目： | 中科院“百人计划”和教育部留学归国人员科研启动基金资助~~ |
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| 摘 要： | 针对一类具有多个子系统的欠驱动非线性系统提出了一种自适应滑模模糊控制方法.
首先通过分析模糊控制与边界层滑模控制的相似性,提出了滑模模糊控制方法;然后根据滑模
面斜率和各子系统控制对于系统动态性能的影响,分别采用模糊推理根据系统状态自动地实时
调节滑模面斜率和各子系统在系统控制中的作用;最后通过简单的滑模模糊控制器实现对具有
多个子系统的欠驱动非线性系统的控制.将该方法应用于吊车的运输控制中,仿真结果证明了
其有效性和鲁棒性.
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| 关 键 词： | 滑模模糊控制 自适应控制 非线性系统 吊车 |
| 收稿时间： | 2002-12-7 |
| 修稿时间： | 2002年12月7日 |
Adaptive Sliding Mode Fuzzy Control for a Class of Nonlinear Systems |
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| LIU Dian-Tong,YI Jian-Qiang,TAN Min.Adaptive Sliding Mode Fuzzy Control for a Class of Nonlinear Systems[J].Acta Automatica Sinica,2004,30(1):144-150. |
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| Authors: | LIU Dian-Tong YI Jian-Qiang TAN Min |
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| Affiliation: | 1.Laboratory of Complex Systems and Intelligence Science,Institute of Automation,Chinese Academy of Sciences,Beijing |
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| Abstract: | An adaptive sliding mode fuzzy control approach is proposed for a class of un-deractuated nonlinear systems with multi-subsystems. Firstly, based on the analysis of the similarity between fuzzy logic control and sliding mode control with boundary layer, a sliding mode fuzzy control approach is proposed. Then, according to the influences on system dynamic performance, both of the slope of sliding mode surface and the relationship between subsystems are automatically tuned by real time fuzzy inference respectively. Finally, the control is completed with a simple sliding-mode fuzzy controller for un-deractuated nonlinear systems with multi-subsystems. Overhead crane transporting control is used to illustrate the effectiveness and robustness of the proposed approach. |
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| Keywords: | Sliding-mode fuzzy control adaptive control nonlinear systems crane |
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