Faculty of Electronic Information and Electrical Engineering, Dalian University of Technology, Ganjingzi District, Dalian 116024, China.
Faculty of Electronic Information and Electrical Engineering, Dalian University of Technology, Ganjingzi District, Dalian 116024, China.
ISA Trans. 2014 Jan;53(1):125-33. doi: 10.1016/j.isatra.2013.07.017. Epub 2013 Sep 21.
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.
针对一类非线性机械系统的跟踪控制问题，提出了一种具有模糊监控策略的新颖自适应反步滑模控制（ABSMC）律。所提出的 ABSMC 方案结合了滑模控制和反步技术，确保滑动运动在有限时间内发生，并且跟踪误差的轨迹收敛到平衡点。为了获得更好的抗扰性能，采用自适应控制律来补偿集中扰动。此外，引入模糊监控策略以提高自适应能力并软化控制信号。利用 Lyaponov 方法证明了所提出的控制方案的收敛性和稳定性。最后，数值模拟验证了所提出控制方案的有效性。
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