第四章：研究了一类非线性系统的间接自适应模糊滑模控制方法。
In chapter four, indirect fuzzy sliding mode control for a class of nonlinear systems is discussed.
根据系统这一特点，采用三闭环模糊滑模控制策略，外环为速度和位置闭环，内环为电流闭环的方法设计控制器，并进行了仿真实验研究。
According to all of these characteristics of the system, a three-loop fuzzy sliding control mode is adopted, the speed and position loop are outer loop, and the current loop is inner loop.
首先，研究了一种新的基于微粒群算法的模糊滑模控制方法。
Firstly, a new fuzzy sliding mode controller method is proposed for a class of nonlinear system based on PSO.
接着，在对并联机构进行动力学分析和建模的基础上，研究了多种控制算法，最终提出并设计了智能模糊滑模控制器。
After that, many control algorithms are studied based on dynamics analysis and model foundation, then the intelligent fuzzy sliding mode controller is proposed and designed.
针对PID控制器存在的局限性，在研究分析非模型滑模控制器的基础上，设计了滑模模糊控制器，并提出了其时间次优解的实现方法。
The control system can readily be expanded and transplanted. 4 Considering the limitations of PID controllers for AUV-VBS, free-model Sliding mode Fuzzy controller SMFC is proposed.
针对PID控制器存在的局限性，在研究分析非模型滑模控制器的基础上，设计了滑模模糊控制器，并提出了其时间次优解的实现方法。
The control system can readily be expanded and transplanted. 4 Considering the limitations of PID controllers for AUV-VBS, free-model Sliding mode Fuzzy controller SMFC is proposed.
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