一类离散时间系统的间接自适应模糊滑模控制

摘要

提出了适用于一类不确定离散时间系统的间接自适应模糊滑模控制策略。首先，根据指数趋近律得到离散滑模控制的理想控制律，然后，用两个模糊系统近似其中的未知函数，用第三个模糊系统近似切换控制。模糊系统的参数向量由带参数投影的自适应律在线调整。证明了该控制算法可以保证闭环系统状态有界，且跟踪误差收敛到原点的小邻域内。仿真结果在表明算法有效性的同时具备减轻振颤的能力。%　　Towards discrete-time systems with model uncertainty and external disturbance,an indirect adaptive fuzzy sliding mode control scheme was developed .Firstly,a discrete-time exponential reaching law was used to obtain the ideal sliding mode control law .Then,two fuzzy systems and a third one were used to approximate unknown functions of the system and the switch-type control in the ideal control law respectively,wherein the consequent parameters were adjusted by an on-line adaptation law with parameter projection.It is proved that the proposed scheme can guarantee that the signals in the close -loop system are bounded and the tracking error may converge to a small neighborhood of the origin .Simulations results showed the effectiveness of the algorithm and the alleviation of the chattering phenomena .