一种组合自适应模糊控制方法及其在月球探测车上的应用

A Combined Adaptive Fuzzy Control Method and Its Application on Lunar Rover

自适应模糊控制是解决不确知非线性系统问题的一种有效手段。文中以月球探测车的驱动控制为背景,针对这类非线性MIMO系统,提出一种组合自适应模糊控制方法,用于系统模型不能准确获知的情形。在本方法中,控制律由3部分组成:监督控制项、跟踪控制项和补偿控制项。在控制律的设计中,通过自适应项来同时补偿模糊逻辑系统的逼近误差以及外部干扰的影响,且无需假设模糊逻辑系统最小逼近误差的上确界已知。基于Lyapunov方法,证明了闭环系统是全局稳定的,系统输出误差渐近收敛。将该方法应用于月球探测车的驱动控制中,仿真结果表明了方法的有效性。

Adaptive fuzzy control is an effective way to deal with nonlinear systems without knowing their precise dynamics. A combined adaptive control method is presented in this paper for a sort of nonlinear MIMO systems such as driving system of lunar rover. These systems are nonlinear MIMO systems with unknown dynamics. To deal with these systems, the presented controller combined of three parts: supervisor controller, tracking controller and compensation controller. An adaptive law is used in the controller to compensate the approximation errors of fuzzy logic systems and the outer disturbance together. The method does not require the supremum of the optimal approximation error being known. Based on Lyapunov theory, the closed-loop system is proven to be globally stable, with tracking error converge asymptotically. The proposed method is carried on for the driving control of lunar rover, and the simulation results illustrate the effectiveness.