【精选】Adaptive fuzzy sliding mode control with GA-based reaching laws.pdfVIP

Fuzzy Sets and Systems 120 (2001) 145–158 /locate/fss Adaptive fuzzy sliding mode control with GA-based reaching laws Juhng-Perng Su ∗, Tung-Min Chen, Chun-Chieh Wang Department of Electrical Engineering, National Yunlin University of Science and Technology, 123, Section 3, University Road, Touliu, Yunlin 640, Taiwan, ROC Received January 1998; received in revised form December 1998 Abstract Based on fuzzy approximators of nonlinear functions, a stable -adaptive fuzzy sliding mode continuous control with a xed continuous reaching law is proposed in this paper for a class of nonlinear plants. In a comparison with most existing adaptive fuzzy sliding mode control schemes where the parameter projection algorithm is often involved in the adaptive laws to prevent the estimated value of the input gain function from evolving into zero, the proposed control law has shown its success and simplicity in tackling the case when the value of the estimated input gain function becomes zero during on-line operations. Moreover, based on the genetic algorithm (GA) approach to the optimal design of parameters of the reaching law, the reaching dynamics can be signicantly improved during the reaching phase. The bounding parameters of the model approximation error and the external disturbance are all regarded as unknown constants in this paper, and adaptive laws for them are devised for tracking purpose. Based on Lyapunov’s stability theory the proposed controller has been shown to render the tracking error to an arbitrarily small neighborhood of zero. This can be illustrated by the simulation results for an