非线性系统的参数自适应变结构控制器设计

The Design for Parameter Adaptive Variable Structure Controller of Nonlinear System

采用 HM模型描述非线性系统 ,并将全局模糊系统模型表示成不确定系统形式。对不确定上界进行自适应参数估计 ,采用 L yapunov方法设计出全局渐近稳定的变结构控制器。并用一级倒立摆进行仿真验证。

The nonlinear system is described based on HM model. The global fuzzy model has been translated into the system with uncertainties. The upper bound of uncertainties is assessed by adaptive method. Lyapunov method is used to design variable structure controller, in order to ensure the global asymptotically stability of the system. The method has been tested by simulation of an inverted pendulum and results in using variable structure control to nonlinear system, successfully.