论文部分内容阅读
针对非线性,不确定性的一级倒立摆系统,本文提出了基于切换模糊化的自适应模糊滑模控制器,通过自适应模糊控制方法,将滑模控制器中的切换项进行模糊逼近,可将切换项连续化,削弱了滑模控制的抖振现象。仿真结果证明,本控制系统有较强的鲁棒性和自适应跟踪能力。
In this paper, an adaptive fuzzy sliding mode controller based on switching fuzzification is proposed for the first order inverted pendulum system with nonlinear and uncertainties. By adaptive fuzzy control, the switching terms in the sliding mode controller are fuzzily approximated, The switching term can be continuous, weakening the chattering of sliding mode control. Simulation results show that the control system has strong robustness and adaptive tracking ability.