A new design scheme of decentralized model reference adaptive sliding mode controller for a class of MIMO nonlinear systems with the high-order interconnections is propcsed. The design is based on the universal approx...A new design scheme of decentralized model reference adaptive sliding mode controller for a class of MIMO nonlinear systems with the high-order interconnections is propcsed. The design is based on the universal approximation capability of the Takagi - Seguno （T-S） fuzzy systems. Motivated by the principle of certainty equivalenteontrol, a decentralized adaptive controller is designed to achieve the tracking objective without computafion of the T-S fuzz ymodel. The approach does not require the upper bound of the uncertainty term to be known through some adaptive estimation. By theoretical analysis, the closed-loop fuzzy control system is proven to be globally stable in the sense that all signalsinvolved are bounded, with tracking errors converging to zero. Simulation results demonstrate the effectiveness of the approach.展开更多
基金Supported by Program for New Century Excellent Talents in Universities of China （NCET-05-0607）, National Natural Science Foundation of China （60774010）, and Project for Fundamental Research of Natural Sciences in Universities of Jiangsu Province （07KJB510114）
基金Supported-by Program for New Century Excellent Talents in Universities of China （NCET-05-0607）, National Natural Science Foundation of China （60774010）, and Program for Fundamental Research of Natural Sciences in Universities of Jiangsu Province （07KJB510114）
文摘A new design scheme of decentralized model reference adaptive sliding mode controller for a class of MIMO nonlinear systems with the high-order interconnections is propcsed. The design is based on the universal approximation capability of the Takagi - Seguno （T-S） fuzzy systems. Motivated by the principle of certainty equivalenteontrol, a decentralized adaptive controller is designed to achieve the tracking objective without computafion of the T-S fuzz ymodel. The approach does not require the upper bound of the uncertainty term to be known through some adaptive estimation. By theoretical analysis, the closed-loop fuzzy control system is proven to be globally stable in the sense that all signalsinvolved are bounded, with tracking errors converging to zero. Simulation results demonstrate the effectiveness of the approach.
