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中文摘要：
基于滑模控制基本原理，利用Ⅰ型模糊逻辑系统对未知函数进行在线逼近，提出了一种具有监督器的自适应模糊滑模控制方法，该方法通过监督控制器保证闭环系统所有信号有界，并进一步引入最优逼近误差的自适应补偿项来消除建模误差的影响，通过李亚普诺夫方法，证明了跟踪误差收敛到零，仿真结果表明了该方法的有效性。
英文摘要：
Based on the principle of sliding mode control, a novel fuzzy sliding mode control strategy with supervisory controller is developed. The first type fuzzy systems are employed to approximate the nonlinear unknown function. With the help of a supervisory controller, the resulting closed-loop system is globally stable in the sense that all signals involved are uniformly bounded. Furthermore, the adaptive compensation term of the optimal approximation error is adopted to reduce the ctfects of modeling error. By Lyapunov method, the tracking error asymptotically converges to zero. Simulation results illustrate the effectiveness of the proposed approach.
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