A new sliding mode controller design method is proposed for a class of system with mismatched uncertainties such that the dynamic function restricted on the sliding surface is completely insensitive to the uncertainti...A new sliding mode controller design method is proposed for a class of system with mismatched uncertainties such that the dynamic function restricted on the sliding surface is completely insensitive to the uncertainties. A sufficient and necessary condition which the system possessing this sliding mode controller should satisfy is explicitly presented. The issue of chattering free is also explored. It is concluded that this class of mismatched term does not bring any chattering problem.Finally, a numerical example illustrates the developed method.展开更多
A new adaptive Type-2 （T2） fuzzy controller was developed and its potential performance advantage over adaptive Type-1 （T1） fuzzy control was also quantified in computer simulation. Base on the Lyapunov method, th...A new adaptive Type-2 （T2） fuzzy controller was developed and its potential performance advantage over adaptive Type-1 （T1） fuzzy control was also quantified in computer simulation. Base on the Lyapunov method, the adaptive laws with guaranteed system stability and convergence were developed. The controller updates its parameters online using the laws to control a system and tracks its output command trajectory. The simulation study involving the popular inverted pendulum control problem shows theoretically predicted system stability and good tracking performance. And the comparison simulation experiments subjected to white noige or step disturbance indicate that the T2 controller is better than the T1 controller by 0--18%, depending on the experiment condition and performance measure.展开更多
文摘A new sliding mode controller design method is proposed for a class of system with mismatched uncertainties such that the dynamic function restricted on the sliding surface is completely insensitive to the uncertainties. A sufficient and necessary condition which the system possessing this sliding mode controller should satisfy is explicitly presented. The issue of chattering free is also explored. It is concluded that this class of mismatched term does not bring any chattering problem.Finally, a numerical example illustrates the developed method.
基金Project(51005253) supported by the National Natural Science Foundation of ChinaProject(2007AA04Z344) supported by the National High Technology Research and Development Program of China
文摘A new adaptive Type-2 （T2） fuzzy controller was developed and its potential performance advantage over adaptive Type-1 （T1） fuzzy control was also quantified in computer simulation. Base on the Lyapunov method, the adaptive laws with guaranteed system stability and convergence were developed. The controller updates its parameters online using the laws to control a system and tracks its output command trajectory. The simulation study involving the popular inverted pendulum control problem shows theoretically predicted system stability and good tracking performance. And the comparison simulation experiments subjected to white noige or step disturbance indicate that the T2 controller is better than the T1 controller by 0--18%, depending on the experiment condition and performance measure.
