Adaptive backstepping sliding mode control with fuzzy monitoring strategy for a kind of mechanical system.
Adaptive backstepping sliding mode control with fuzzy monitoring strategy for a kind of mechanical system.
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DOI：
10.1016/j.isatra.2013.07.017
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发表时间：
2014
期刊：
影响因子：
7.3
通讯作者：
Zhankui Song;Kaibiao Sun
中科院分区：
文献类型：
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作者：
Zhankui Song;Kaibiao Sun
针对一类非线性机械系统的跟踪控制问题，提出了一种带有模糊监测策略的自适应反步滑模控制律。所提出的ABSMC方案将滑模控制与反步技术相结合，保证了滑模运动在有限时间内发生，跟踪误差轨迹收敛于平衡点。为了获得较好的摄动抑制性能，采用自适应控制律对集总摄动进行补偿。在此基础上，引入模糊监控策略，提高自适应能力，软化控制信号。利用李亚波诺夫方法证明了该控制方案的收敛性和稳定性。最后，通过数值仿真验证了所提控制方案的有效性。
A novel adaptive backstepping sliding mode control (ABSMC) law with fuzzy monitoring strategy is proposed for the tracking-control of a kind of nonlinear mechanical system. The proposed ABSMC scheme combining the sliding mode control and backstepping technique ensure that the occurrence of the sliding motion in finite-time and the trajectory of tracking-error converge to equilibrium point. To obtain a better perturbation rejection property, an adaptive control law is employed to compensate the lumped perturbation. Furthermore, we introduce fuzzy monitoring strategy to improve adaptive capacity and soften the control signal. The convergence and stability of the proposed control scheme are proved by using Lyaponov′s method. Finally, numerical simulations demonstrate the effectiveness of the proposed control scheme.