基于GA的非线性电机自适应模糊滑模控制器设计

提出一种基于GA的自适应模糊积分型滑模控制策略,并将其用于具有非线性动态摩擦力的单轴运动控制系统中.控制器由自适应模糊控制项和补偿控制项组成,自适应模糊控制项用来逼近理想滑模控制律,补偿控制项用来补偿逼近偏差,利用李亚普诺夫稳定性理论推导出模糊规则和补偿控制项中逼近偏差边界在线自适应律,采用遗传算法优化自适应律中参数.仿真和实验结果表明了该控制策略的有效性.

Design of Nonlinear Motor Adaptive Fuzzy Sliding Mode Controller Based on GA

An adaptive fuzzy integral type sliding mode control method based on GA was proposed to control single-axis motion control system with nonlinear dynamic friction. The controller proposed is comprised of an adaptive fuzzy controller and a compensation controller, the adaptive fuzzy controller is used to approximate this ideal sliding mode control law, and the compensator is designed to compensate the approximation error between ideal sliding mode control law and adaptive fuzzy controller,the parameter adaptive laws are derived in the sense of Lyapunov stability theorem, the parameters in adaptive laws are optimized by genetic algorithm. Simulation and test results show the validity of proposed adaptive fuzzy integral type sliding mode controller based on GA.