First, for the unknown system uncertainty, the fuzzy logic system is used to estimate, and then the fuzzy estimation error and external disturbance as a hybrid perturbation, construct the perturbation observation, combine the non-singular terminal slide surface design controller, and prove through Lyapunov theory that the entire closed-loop system signal is stable, and for the unknown of the system, that is, unknown function and external perturbation, can be effectively estimated
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