Chattering free adaptive fuzzy terminal sliding mode control for second order nonlinear system

作     者：Jinkun LIU Fuchun SUN 

作者机构：School of Automation Science and Electrical Engineering Beijing University of Aeronautics and Astronautics Beijing 100083 China State Key Laboratory of Intelligent Technology and Systems Tsinghua University Beijing 100084China 

出 版 物：《控制理论与应用（英文版）》 (JOURNAL OF CONTROL THEORY AND APPLICATIONS)

年 卷 期：2006年第4卷第4期

页      面：385-391页

学科分类：0711[理学-系统科学] 07[理学] 08[工学] 070105[理学-运筹学与控制论] 081101[工学-控制理论与控制工程] 071101[理学-系统理论] 0811[工学-控制科学与工程] 0701[理学-数学] 

基　　金：This work was supported by the National Natural Science Foundation of China (No. 60474025  90405017) 

主　　题：Adaptive fuzzy control Terminal sliding mode control Nonlinear system 

摘      要：A novel fuzzy terminal sliding mode control （FTSMC） scheme is proposed for position tracking of a class of second-order nonlinear uncertain system. In the proposed scheme, we integrate input-output linearization technique to cancel the nonlinearities. By using a function-augmented sliding hyperplane, it is guaranteed that the output tracking error converges to zero in finite time which can be set arbitrarily. The proposed scheme eliminates reaching phase problem, so that the closed-loop system always shows invariance property to parameter uncertainties. Fuzzy logic systems are used to approximate the unknown system functions and switch item. Robust adaptive law is proposed to reduce approximation errors between true nonlinear functions and fuzzy systems, thus chattering phenomenon can be eliminated. Stability of the proposed control scheme is proved and the scheme is applied to an inverted pendulum system. Simulation studies are provided to confirm performance and effectiveness of the proposed control approach.