Multi-surfaces Sliding Mode Control Based on CMAC NN for a Class of Multi-Input Multi-Output Nonlinear Systems

摘要

Based on backstepping and Fuzzy CMAC neural network a variable structure control algorithm is proposed for a class of multi-input multi-output nonlinear systems in this paper. No up bounds of unknown functions and their derivatives are required. For this scheme, stable update laws are determined by using Lyapunov theory, and the boundedness of all signals in the closed loop system is guaranteed. Compared with the classical backstepping methods, the nonparametric uncertainties are allowed in the proposed scheme. The simulation results show the effectiveness of the proposed method.