Adaptive Fuzzy Hierarchical Sliding-Mode Control for a Class of MIMO Nonlinear Time-Delay Systems With Input Saturation

被引：163

作者：

Zhao, Xudong ^{[1
,2
,3
]}

Yang, Haijiao ^{[2
,4
]}

Xia, Weiguo ^{[1
]}

Wang, Xinyong ^{[2
,3
]}

机构：

[1] Dalian Univ Technol, Fac Elect Informat & Elect Engn, Dalian 116024, Peoples R China

[2] Bohai Univ, Coll Engn, Jinzhou 121013, Peoples R China

[3] Chongqing SANY High Intelligent Robots Co Ltd, Chongqing 401120, Peoples R China

[4] Northeastern Univ, Sch Informat Sci & Engn, Shenyang 110819, Peoples R China

来源：

IEEE TRANSACTIONS ON FUZZY SYSTEMS | 2017年 / 25卷 / 05期

基金：

中国国家自然科学基金;

关键词：

Fuzzy systems; hierarchical sliding-mode control; input saturation; multiinput multioutput (MIMO) systems; time delay; TRACKING CONTROL; STABILIZATION;

D O I：

10.1109/TFUZZ.2016.2594273

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, an adaptive fuzzy hierarchical sliding-mode control method for a class of multiinput multioutput unknown nonlinear time-delay systems with input saturation is proposed. The studied system is first transformed into an equivalent system. Subsequently, based on sliding-mode control technology and the concept of hierarchical design, a set of adaptive fuzzy hierarchical sliding-mode controllers are designed for the new defined system by using fuzzy systems to approximate uncertain functions and compensate input saturation. Choosing an appropriate Lyapunov-Krasovskii function, it is theoretically proved that all the signals in the closed-loop system together with the proposed sliding surfaces are uniformly ultimately bounded under our designed adaptive fuzzy controllers. Simulation results demonstrate the effectiveness of the proposed design techniques for the systems under consideration.

引用

页码：1062 / 1077

页数：16

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