Design of Direct Adaptive Fuzzy Sliding Mode Control for Discrete Nonlinear System

摘要

A new direct adaptive fuzzy sliding mode control (FSMC) design for discrete nonlinear systems is presented to trajectory tracking problem. Firstly, problem formula and dynamic fuzzy logical system (DFLS) are proposed, and then, sliding mode control (SMC) design is constructed based on DFLS in which parameters are self-tuning online. Consequently, the sliding mode is validated using Lyapunov analysis theories that it can be reached by the adaptive law. Thus, the overall system is asymptotically stable and with robustness, chattering free, and adaptive. Finally, the performance of the control design was verified by simulations of an inverted pendulum.