复杂动态系统的模糊滑模控制 观测及其应用 英文2025|PDF|Epub|mobi|kindle电子书版本百度云盘下载

复杂动态系统的模糊滑模控制 观测及其应用 英文PDF格式电子书版下载

注意：本站所有压缩包均有解压码： 点击下载压缩包解压工具

1 Literature survey and background1

1.1 Introduction1

1.2 Variable structure systems2

1.3 Discrete time variable structure control systems3

1.4 Fusion of artificial intelligence algorithms with SMC5

1.4.1 Artificial intelligence6

1.4.2 Fuzzy sliding mode control8

1.4.3 Adaptive fuzzy sliding mode control9

1.4.4 Neural network based sliding mode control12

1.4.5 Neural fuzzy based sliding mode control13

1.5 Sliding mode observation14

1.6 Applications and practice of sliding mode control14

1.7 Summary15

2 Preliminary methodologies17

2.1 Introduction17

2.2 Nonlinear systems and their control17

2.2.1 Nonlinear systems17

2.2.2 Control of nonlinear systems18

2.3 Variable structure control19

2.3.1 Variable structure systems20

2.3.2 Sliding mode in variable structure systems21

2.3.3 Sliding mode control design by the reaching law approach23

2.4 Discrete time sliding mode control28

2.4.1 Discrete time sliding mode control28

2.4.2 DSMC control design by the reaching law approach30

2.5 Fuzzy logic control35

2.5.1 Mamdani fuzzy logic systems37

2.5.2 Takagi-sugeno fuzzy logic systems40

2.6 Fuzzy adaptive control43

2.7 Summary44

3 Adaptive fuzzy sliding mode control46

3.1 Introduction46

3.2 Fuzzy universal approximation46

3.2.1 Fuzzy basis functions46

3.2.2 Fuzzy universal approximation47

3.3 AFSMC for SISO nonlinear systems48

3.3.1 Problem statement48

3.3.2 Conventional sliding mode control49

3.3.3 Indirect adaptive control law based on fuzzy logic schemes50

3.3.4 Lyapunov stability analysis51

3.3.5 Simulation studies54

3.4 AFSMC for MIMO nonlinear systems62

3.4.1 Problem statement62

3.4.2 Conventional sliding mode control63

3.4.3 Adaptive fuzzy control law design65

3.4.4 Simulation studies73

3.5 Summary79

4 Sliding mode observation81

4.1 Introduction81

4.2 State observation83

4.3 Sliding mode observation84

4.4 Nonlinear sliding mode observers for stochastic systems85

4.4.1 Preliminaries and problem formulation86

4.4.2 Adaptive sliding mode observer design87

4.4.3 Convergence analysis of the observer88

4.4.4 Simulation studies91

4.5 Summary94

5 Adaptive observer based nonlinear stochastic system control with sliding mode schemes95

5.1 Introduction95

5.2 Problem statement and preliminaries97

5.3 Adaptive observer design based on sliding mode schemes99

5.3.1 Design of the observer99

5.3.2 Convergence of the observer100

5.4 Adaptive observer based nonlinear stochastic system control103

5.4.1 Sliding mode controller based on sliding mode observer103

5.4.2 Stability analysis of overall closed-loop systems105

5.5 Simulation studies106

5.6 Summary109

6 Hovering control of a helicopter simulator110

6.1 Overview of hovering control110

6.2 Dynamic models of helicopter simulator112

6.2.1 Aerodynamic analysis of rotor thrust113

6.2.2 Mathematical models of helicopter simulator115

6.2.3 Time discretization of nonlinear systems117

6.3 Fuzzy sliding mode controller design120

6.3.1 Perfect control law120

6.3.2 Design of controller121

6.3.3 Design procedures for controller123

6.4 Simulation studies123

6.4.1 Parameters and initial conditions123

6.4.2 Design of conventional fuzzy logic control124

6.4.3 Simulation results126

6.5 Summary127

7 Adaptive control for robotic manipulators129

7.1 Overview of the control of robotic manipulators129

7.2 Dynamic models of robot manipulators133

7.3 Rigid and flexible joint robotic manipulators136

7.4 Dynamics of a two-link rigid robot manipulator137

7.5 Controller design for an SCARA robot139

7.6 Simulation studies148

7.7 Summary154

8 Controller design for vehicle suspension systems156

8.1 Overview of vehicle suspension systems156

8.1.1 Vehicle suspension systems156

8.1.2 Literature review159

8.2 Mathematical models and control problem161

8.2.1 System dynamic model163

8.2.2 Objective of control164

8.3 Proportional integral sliding mode control165

8.3.1 Introduction165

8.3.2 Linear quadratic regulators166

8.3.3 PI sliding mode control167

8.3.4 Simulation studies168

8.4 Singular perturbation based sliding mode control170

8.4.1 Introduction170

8.4.2 Linear dynamic models for suspension systems171

8.4.3 Control law design based on the sliding mode scheme173

8.4.4 Nonlinear suspension systems174

8.4.5 Control law design based on the fuzzy sliding mode scheme177

8.5 Summary182

9 Fuzzy PID and sliding made control184

9.1 Introduction of fuzzy PID control184

9.1.1 Structure of a fuzzy PID control system184

9.1.2 Design of a fuzzy PID controller185

9.2 Problem statement and configuration of control systems188

9.2.1 Mathematical model of a servo motor188

9.2.2 Mathematical model of a two-container water tank system189

9.2.3 Mathematical model of a hydraulic cylinder192

9.3 Applications of fuzzy PID control and sliding mode control195

9.3.1 Control ofa servo motor195

9.3.2 Control of a two-container water tank system198

9.3.3 Control of a hydraulic cylinder202

9.4 Summary207

References208