IEEE Trans Cybern. 2020 Feb;50(2):810-820. doi: 10.1109/TCYB.2018.2874166. Epub 2018 Oct 22.
The issue of observer-based adaptive sliding mode control of nonlinear Takagi-Sugeno fuzzy systems with semi-Markov switching and immeasurable premise variables is investigated. More general nonlinear systems are described in the model since the selections of premise variables are the states of the system. First, a novel integral sliding surface function is proposed on the observer space, then the sliding mode dynamics and error dynamics are obtained in accordance with estimated premise variables. Second, sufficient conditions for stochastic stability with an H performance disturbance attenuation level γ of the sliding mode dynamics with different input matrices are obtained based on generally uncertain transition rates. Third, an observer-based adaptive controller is synthesized to ensure the finite time reachability of a predefined sliding surface. Finally, the single-link robot arm model is provided to verify the control scheme numerically.
研究了具有半马尔可夫切换和不可测前提变量的非线性 Takagi-Sugeno 模糊系统的基于观测器的自适应滑模控制问题。由于前提变量的选择是系统的状态，因此模型中描述了更一般的非线性系统。首先，在观测器空间上提出了一个新的积分滑动面函数，然后根据估计的前提变量得到了滑模动力学和误差动力学。其次，基于一般不确定的转移率，得到了具有不同输入矩阵的滑模动力学具有 H 性能干扰衰减水平γ的随机稳定性的充分条件。第三，综合了基于观测器的自适应控制器，以确保预设滑动面的有限时间可达性。最后，提供了单连杆机器人臂模型来数值验证控制方案。
