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Improved Integral Fuzzy Sliding Mode Control for a Class of Nonlinear Uncertain Systems

机译：改进了一类非线性不确定系统的整体模糊滑模控制

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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：对于传统的一类非线性不确定系统的传统滑动模式控制，推导了滑动模式误差和稳态误差的范围。为了减小稳态误差而抗卷绕，设计改进的整体滑动表面，基于该滑动表面提出了一种改进的整体模糊滑模控制方法。在这种方法中，当边界层外部的滑动变量时，通过调整因子来减小积分动作。然后，可以避免由于初始误差引起的大型过冲。当在边界层内滑动变量时，积分动作是常规的，以便减小稳态误差。通过实时模糊推理自动调整调整因子。最后，使用倒置的摆管控制来说明所提出的方法的有效性和鲁棒性。

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