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

Xiao-yu ZHANG

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Front. Inform. Technol. Electron. Eng ›› 2016, Vol. 17 ›› Issue (12) : 1331-1343. DOI: 10.1631/FITEE.1500318
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Article

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

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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.

Keywords

Nonlinear system / Discrete system / Dynamic fuzzy logical system / Direct adaptive / Sliding mode control

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Xiao-yu ZHANG. Application of direct adaptive fuzzy slidingmode control into a class of non-affine discrete nonlinear systems. Front. Inform. Technol. Electron. Eng, 2016, 17(12): 1331‒1343 https://doi.org/10.1631/FITEE.1500318
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