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首页> 外文期刊>Journal of Theoretical and Applied Mechanics >DECENTRALIZED FUZZY-INTEGRAL-SLIDING CONTROL FOR A CLASS OF TITO UNCERTAIN NONLINEAR SYSTEMS WITH APPLICATION TO A 2-DOF HELICOPTER MODEL
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DECENTRALIZED FUZZY-INTEGRAL-SLIDING CONTROL FOR A CLASS OF TITO UNCERTAIN NONLINEAR SYSTEMS WITH APPLICATION TO A 2-DOF HELICOPTER MODEL

机译：一类蒂托不确定非线性系统的分散模糊积分滑移控制在二维自由度直升机模型中的应用

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摘要

In this paper, a novel fuzzy-integral-sliding controller (FISC) is designed for coupled nonlinear two-input two-output (TITO) systems. Decomposing the original system into two subsystems, the coupling effects are modelled as uncertainties. In order to ensure the robustness properties with respect to system uncertainties and external disturbances, the sliding mode technique with a proportional integral (PI) sliding surface is adopted. On the other hand, to avoid the chattering phenomenon, the Takagi-Sugeno fuzzy rules are incorporated into the control algorithm, which forms a fuzzy sliding controller. The stability analysis is also presented based on the Lyapunov stability theorem. The proposed FISC is then applied to control the elevation and azimuth angles of Humusoft CE150, as a two degree of freedom (DOF) laboratory helicopter model with highly cross-coupled dynamics. The simulation results are also presented to demonstrate the performance of the proposed control scheme.
机译：本文针对耦合的非线性二输入二输出（TITO）系统设计了一种新颖的模糊积分滑模控制器（FISC）。将原始系统分解为两个子系统，将耦合效应建模为不确定性。为了确保针对系统不确定性和外部干扰的鲁棒性，采用了具有比例积分（PI）滑动表面的滑模技术。另一方面，为了避免出现颤动现象，将Takagi-Sugeno模糊规则结合到控制算法中，从而形成模糊滑动控制器。还基于Lyapunov稳定性定理提出了稳定性分析。然后，将拟议的FISC作为具有高度交叉耦合动力学的两自由度（DOF）实验室直升机模型，应用于控制Humusoft CE150的仰角和方位角。仿真结果也被提出来证明所提出的控制方案的性能。

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