Fuzzy-Affine-Model-Based Output Feedback Dynamic Sliding Mode Controller Design of Nonlinear Systems

摘要

This paper investigates the problem of output feedback sliding mode control (SMC) for a class of uncertain nonlinear systems through Takagi-Sugeno fuzzy affine models. By adopting a state-input augmentation method, a descriptor system is first constructed to characterize the dynamical properties of the sliding motion. Based on a common quadratic Lyapunov function and piecewise quadratic Lyapunov functions, sufficient conditions for asymptotic stability analysis of the sliding motion are obtained with some convexification techniques. An output feedback dynamic SMC design scheme is proposed to force the states of the resulting closed-loop system onto the sliding surface locally in finite time. Two simulation examples are finally shown to illustrate the effectiveness of the proposed approaches.