非匹配不确定系统的T-S模糊反演滑模控制

摘要

Aiming at the problem of mismatched uncertain system described by T-S fuzzy model that the robustness of sliding mode control is difficult to guarantee,fuzzy back-stepping controller based on T-S fuzzy model is studied and designed. The intermediate stable term is determined by selecting a suitable Lyapunov function,and the sliding mode control and the parameters are determined in the last step. The regulator and tracking controller is designed step by step,to achieved global regulation of system and asymptotic stability. The simulation results show that the fuzzy back-stepping sliding mode controller has good tracking performance and dynamic quality. When the interference terms are joined,the system still has good performance. It is indicated that the designed control law has effectiveness and strong robustness.%对于一类T-S模糊模型描述的非匹配不确定系统，滑模控制鲁棒性难以保证问题，研究并设计了基于T-S模糊模型的模糊反演控制器。首先中间稳定项通过选择合适的Lyapunov函数来确定，在最后一步中确定滑模控制及参数。逐步设计调节器和跟踪控制器，进而实现系统的全局调节和渐进稳定。从仿真结果可以看出，所设计的模糊反演滑模控制器具有良好的跟踪性能和动态品质，在加入干扰项时，系统仍具有良好的性能，表明该设计控制律的有效性和较强的鲁棒性。