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首页> 外文期刊>Journal of intelligent & fuzzy systems: Applications in Engineering and Technology >Adaptive fuzzy controller with self-tuning fuzzy sliding-mode compensation for position control of an electro-hydraulic displacement-controlled system
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Adaptive fuzzy controller with self-tuning fuzzy sliding-mode compensation for position control of an electro-hydraulic displacement-controlled system

机译：具有自校正模糊滑模补偿的自适应模糊控制器，用于电液位移控制系统的位置控制

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摘要

The electro-hydraulic displacement-controlled system (EHDCS) performs specific non-linear and time-varying characteristics such that an exact model-based controller is complicated to be realized and the servo control is difficult to be implemented. In this study, the design method and experimental implementation of an adaptive fuzzy controller with self-tuning fuzzy sliding-mode compensation (AFC-STFSMC) are proposed which has on-line tuning ability for dealing with the system time-varying and non-linear uncertain behaviours for adjusting the control rule parameters. This control strategy employs the adaptive fuzzy approximation technique to design the equivalent controller of the conventional sliding-mode control (SMC). Furthermore, the fuzzy sliding-mode control scheme with self-tuning ability is introduced to compensate the approximation error of the equivalent controller for improving the control performance. The proposed AFC-STFSMC scheme can design the sliding-mode controller with no requirement of the system dynamic model, be free from chattering, be stable tracking control performance, and be robust to uncertainties. Moreover, the stability proof of the proposed scheme using Lyapunov method is presented. The experimental results of the position control and the path control in EHDCS with different strokes and external disturbance forces show that the proposed AFC-STFSMC approach can achieve excellent control performance and robustness with regard to parameter variations and external disturbance.
机译：电动液压位移控制系统（EHDCS）具有特定的非线性和时变特性，因此，要实现基于模型的精确控制器非常困难，而伺服控制则很难实现。本研究提出了一种具有在线调节能力的自校正模糊滑模补偿自适应模糊控制器（AFC-STFSMC）的设计方法和实验实现，可以对系统进行时变和非线性处理。用于调整控制规则参数的不确定行为。该控制策略采用自适应模糊逼近技术来设计常规滑模控制（SMC）的等效控制器。此外，引入具有自整定能力的模糊滑模控制方案，以补偿等效控制器的逼近误差，从而提高控制性能。所提出的AFC-STFSMC方案可以设计滑模控制器，而无需系统动力学模型的要求，没有抖动，具有稳定的跟踪控制性能，并且对不确定性具有鲁棒性。此外，还提出了使用Lyapunov方法的方案的稳定性证明。在具有不同行程和外部干扰力的EHDCS中进行位置控制和路径控制的实验结果表明，所提出的AFC-STFSMC方法在参数变化和外部干扰方面可以实现出色的控制性能和鲁棒性。

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