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对于一类具有不确定性及未知部分的非线性控制系统,采用传统的模糊滑模控制时,由于切换函数的不连续性,易导致系统的高频振颤问题。为此提出了滑模控制与免疫控制相结合的自适应模糊免疫滑模控制方法。该方法通过免疫系统的免疫反馈原理,对滑模控制中产生的振颤现象进行抑制和补偿,并对非线性系统中的不确定性及未知部分采用T-S模糊系统逼近,较好地实现了此类非线性系统的鲁棒控制。通过倒立摆系统的控制,对所提出的方法进行了跟踪性能和鲁棒性能的验证。仿真结果表明,该方法与常规模糊滑模控制方法相比控制量的振颤得到了改善,具有良好的跟踪性能和较强的鲁棒性。
For a class of nonlinear control systems with uncertainties and unknown parts, the traditional fuzzy sliding mode control can easily lead to the high-frequency chattering of the system due to the discontinuity of switching functions. For this reason, an adaptive fuzzy immune sliding mode control method combining sliding mode control with immune control is proposed. This method suppresses and compensates the chattering phenomenon generated in the sliding mode control by the immune feedback principle of the immune system, and adopts the TS fuzzy system approximation to the uncertainty and the unknown part of the nonlinear system. This method is well implemented Robust control of nonlinear systems. Through the control of inverted pendulum system, the proposed method is verified by tracking performance and robustness. Simulation results show that compared with the conventional fuzzy sliding mode control method, the chattering of control variables is improved, with good tracking performance and robustness.