Adaptive Sliding Mode Output Feedback Control Based on Fuzzy Tree Model

摘要

Based on fuzzy tree model, an adaptive sliding mode output feedback control strategy is proposed for a class of nonlinear systems. In this strategy, the fuzzy tree identification method is used to off-line identify the unknown nonlinear functions. An indirect adaptive sliding mode output feedback control method based on observer is presented to online adjust the linear parameters in the fuzzy tree model when the states of the nonlinear systems are not all available for feedback. The performance of the controller is improved in realizing tracking the bounded reference trajectory. It can not only resolve the problem of "rule explosion" which often occurs in the fuzzy control for high dimension nonlinear systems, but also resolve the limit to the systems whose states are assumed to be available for measurement for adaptive control. By Lyapunov method, the stability of the closed-loop system is proved. And the tracking error is proved to be asymptotically converging to zero. The simulation results of controlling an inverted pendulum show the effectiveness of the proposed approach.