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2016, Volume 17, Issue 12

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Frontiers of Information Technology & Electronic Engineering >> 2016, Volume 17, Issue 12 doi: 10.1631/FITEE.1500318

Application of direct adaptive fuzzy slidingmode control into a class of non-affine discrete nonlinear systems

School of Electronic and Information Engineering, North China Institute of Science and Technology, Beijing 101601, China

Available online: 2016-12-29
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Abstract

Direct adaptive fuzzy sliding mode control design for discrete non-affine nonlinear systems is presented for trajectory tracking problems with disturbance. To obtain adaptiveness and eliminate chattering of sliding mode control, a dynamic fuzzy logical system is used to implement an equivalent control, in which the parameters are self-tuned online. Stability of the sliding mode control is validated using the Lyapunov analysis theory. The overall system is adaptive, asymptotically stable, and chattering-free. A numerical simulation and an application to a robotic arm with two degrees of freedom further verify the good performance of the control design.

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