Abstract
Direct adaptive fuzzy sliding mode control design for discrete non-affine nonlinear systems is presented for trajectory tracking problems with disturbance. To obtain adaptiveness and eliminate chattering of sliding mode control, a dynamic fuzzy logical system is used to implement an equivalent control, in which the parameters are self-tuned online. Stability of the sliding mode control is validated using the Lyapunov analysis theory. The overall system is adaptive, asymptotically stable, and chattering-free. A numerical simulation and an application to a robotic arm with two degrees of freedom further verify the good performance of the control design.
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Project supported by the National Natural Science Foundation of China (No. 61304024), the Science and Technology Project of Hebei Province, China (No. 15272118), and the Fundamental Research Funds for the Central Universities, China (No. 3142015101)
A preliminary version was presented at the 12th International Conference on Fuzzy Systems and Knowledge Discovery, Zhangjiajie, China, Aug. 15–17, 2015
ORCID: Xiao-yu ZHANG, http://orcid.org/0000-0003-1436-8116
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Zhang, Xy. Application of direct adaptive fuzzy slidingmode control into a class of non-affine discrete nonlinear systems. Frontiers Inf Technol Electronic Eng 17, 1331–1343 (2016). https://doi.org/10.1631/FITEE.1500318
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DOI: https://doi.org/10.1631/FITEE.1500318