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首页> 外文会议>2011 30th Chinese Control Conference >Improved integral fuzzy sliding mode control for a class of nonlinear uncertain systems
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Improved integral fuzzy sliding mode control for a class of nonlinear uncertain systems

机译：一类非线性不确定系统的改进的积分模糊滑模控制

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摘要

For the conventional sliding mode control of a class of nonlinear uncertain systems, the ranges of sliding mode error and steady-state error are deduced. In order to reduce the steady-state error while anti-windup, an improved integral sliding surface is designed, and an improved integral fuzzy sliding mode control approach is proposed based on this sliding surface. In this approach, the integral action is reduced through adjust factor when the sliding variable outside the boundary layer. Then, the large overshoots due to the large initial errors can be avoided. When sliding variable inside the boundary layer, the integral action is conventional in order to reduce the steady-state error. The adjust factor is automatically tuned by real time fuzzy inference. Finally, an inverted pendulum control is used to illustrate the effectiveness and robustness of the proposed approach.
机译：对于一类非线性不确定系统的常规滑模控制，推导了滑模误差和稳态误差的范围。为了减小抗饱和时的稳态误差，设计了一种改进的积分滑动面，并提出了一种基于该滑动面的改进的积分模糊滑模控制方法。在这种方法中，当滑动变量在边界层之外时，通过调整因子减少了积分作用。然后，可以避免由于较大的初始误差而导致的较大的过冲。当在边界层内滑动变量时，积分作用是常规的，以减小稳态误差。调整因子通过实时模糊推理自动调整。最后，倒立摆控制用于说明所提方法的有效性和鲁棒性。

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