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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.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 contr01 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 relation-ship 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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Key words:
- Sliding-mode fuzzy control /
- adaptive control /
- nonlinear systems /
- cran
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