Authors: Litong Ren Shousheng Xie Zhuoguang Miao Husen Tian Jingbo Peng
Publish Date: 2016/09/30
Volume: 23, Issue: 9, Pages: 2296-2304
Abstract
Aiming at a class of systems under parameter perturbations and unknown external disturbances a method of fuzzy robust sliding mode control was proposed Firstly an integral sliding mode surface containing state feedback item was designed based on robust H ∞ control theory The robust state feedback control was utilized to substitute for the equivalent control of the traditional sliding mode control Thus the robustness of systems sliding mode motion was improved even the initial states were unknown Furthermore when the upper bound of disturbance was unknown the switching control logic was difficult to design and the drawbacks of chattering in sliding mode control should also be considered simultaneously To solve the abovementioned problems the fuzzy nonlinear method was applied to approximate the switching control term Based on the Lyapunov stability theory the parameter adaptive law which could guarantee the system stability was devised The proposed control strategy could reduce the system chattering effectively And the control input would not switch sharply which improved the practicality of the sliding mode controller Finally simulation was conducted on system with parameter perturbations and unknown external disturbances The result shows that the proposed method could enhance the approaching motion performance effectively The chattering phenomenon is weakened and the system possesses stronger robustness against parameter perturbations and external disturbances
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