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一类非线性系统的模糊自适应反推滑模控制
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TP273+.4

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国家重点基础研究发展计划(2014CB744902)


Fuzzy Adaptive Backstepping Sliding Mode Control for a Class of Nonlinear Systems
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    摘要:

    针对一类具有非匹配不确定非线性系统,提出一种模糊自适应反推滑模变结构控制方法。首先利用模糊逻辑系统有效逼近系统的未知非线性,然后针对反推方法中需要对虚拟控制反复求导而存在的“微分爆炸”现象引入低阶滤波器,同时抑制非匹配不确定性的影响;最后设计一种积分终端滑模控制,解决了控制过程中的奇异问题,加快了远离平衡位置的系统状态收敛速度,保证了系统的收敛精度,同时削弱了传统滑模控制中存在的抖振现象。Lyapunov稳定性分析证明了所设计的控制器能够保证闭环系统的有限时间收敛。对比仿真结果显示系统状态跟踪效果较好,控制输入抖振现象削弱明显。

    Abstract:

    For a class of nonlinear systems with mismatched uncertainties, a fuzzy adaptive backstepping sliding mode control method is proposed. In the process of backstepping design, the paper utilizes the fuzzy logic system for approximating the unknown nonlinearity of the system, introduces the “differential explosion” phenomenon in requiring repeatedly the derivation of the virtual control in the backstepping method into the loworder filter, and simultaneously restrains interference with the nonmatching uncertainties. Finally, the paper designs an integral terminal sliding mode control to solve some singularity problems in the control process, speed up the convergence of the system state far away from the equilibrium position, ensure the convergence accuracy of the system and weaken the traditional sliding mode control in the presence of chattering phenomenon. Lyapunov stability analysis proves that the designed controller can ensure the finitetime convergence of closedloop system. The simulation results show that the system state tracking is good in effect and the control input chattering is weakened significantly, and the method is valid.

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邢晓波,胡剑波,王应洋,李俊.一类非线性系统的模糊自适应反推滑模控制[J].空军工程大学学报,2018,19(1):104-110

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  • 在线发布日期: 2018-03-06
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