Two Order Sliding Fuzzy Type-2 Control Based on Integral Sliding Mode for MIMO Systems

M. Manceur, N. Essounbouli, A. Hamzaoui
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引用次数: 3

Abstract

A higher order sliding fuzzy type-2 controller scheme for an nth order multi-input multi-output (MIMO) nonlinear uncertain perturbed systems is proposed in the paper. To overcome the constraint on the knowledge of the system model, local models related to some operating points were used to synthesize a nominal fuzzy type-2 global model. The controller uses integral sliding mode concept and contains two parts. Adaptive fuzzy type-2 systems have been introduced to generate the Super Twisting signals to avoid both the chattering and the constraint on the knowledge of upper bounds of both disturbances and uncertainties. These fuzzy type-2 systems are adjusted on-line by adaptation laws deduced from the stability analysis in Lyapunov sense. The advantages of the method are that its implementation is easy, the time convergence is chosen in advance and the robustness is ensured. Simulation results of two link robot manipulator are presented to illustrate the tracking performances of the method.
基于积分滑模的MIMO系统二阶滑动模糊2型控制
针对n阶多输入多输出(MIMO)非线性不确定摄动系统,提出了一种高阶滑动模糊2型控制器方案。为了克服系统模型知识的限制,利用与部分工作点相关的局部模型,综合了一个标称模糊2型全局模型。该控制器采用积分滑模概念,由两部分组成。引入自适应模糊2型系统来产生超扭信号,既避免了抖振,又避免了对扰动和不确定性上界知识的约束。利用李亚普诺夫意义上的稳定性分析推导出的自适应律对模糊2型系统进行在线调整。该方法实现简单,提前选择了时间收敛点,保证了鲁棒性。最后给出了双连杆机器人的仿真结果,验证了该方法的跟踪性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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