非线性模糊直接鲁棒自适应控制的后推设计

Study on robust backstepping control of nonlinear systems based on novel fuzzy direct approach

采用模糊直接控制方法,针对一类非线性多入多出系统,提出了一种带有连续鲁棒项的鲁棒自适应控制方法.在此基础给出了高阶多入多出系统的鲁棒自适应的后推设计方法.在鲁棒项合理简化的情况下,给出了系统Lyapunov意义下的稳定性证明,简略分析了各设计参数的物理意义及其对系统性能的影响.理论分析和仿真实验均显示,本方法可以使系统全局渐近稳定,且选取恰当的设计参数可保证系统对输入信号的跟踪达到任意精度;并且由于鲁棒项的引入可使系统的设计更具灵活性.

Focuses on robust adaptive control of strict-feedback nonlinear systems using fuzzy direct method Puts forward a novel fuzzy direct adaptive scheme, which includes a continuous sigmoid function as robust terms for a kind of first-order multi-input/multi-output (MIMO) systems Makes an extension to high-order nonlinear system using backstepping design The stability is proved using Lyapunov theories based on the suitable simplification of the robust terms The result suggests that all the tracking errors in closed-loop system can converge into an arbitrary small compact set globally and asymptotically if the designing parameters are given suitably Besides, the system design is flexible because of the robust terms introduced Studies a simply simulation to illustrate the effectiveness of the proposed approach