新型跟踪误差下的H^∞自适应模糊控制系统

ADAPTIVE FUZZY CONTROL SYSTEMS BASED ON NEW TYPE TRACKING ERROR

对一类非线性不确定系统,给出了一种设计具有H∞跟踪性能的自适应模糊控制系统的方法.为避免出现较 大的控制力,引入了一种新型跟踪误差;然后用模糊系统来逼近被控对象数学模型中未知的函数,并用自适应控制理论 得到了参数的自适应律.用LMI方法获取了辅助控制的增益.为验证本方法的有效性,给出了控制倒立摆的仿真实验例 子.

A new method of designing adaptive fuzzy controller with H ∞ tracking performance is presented for a class of uncertain nonlinear systems with external disturbance. First, a new type tracking error is introduced in order to reduce the cost of the control effort. Next, the unknown functions in plant model are approximated by fuzzy systems, and using adaptive control theory the parameters update laws are obtained. Then, LMI method is used to get the auxiliary control gain. Finally, a simulation of an inverted pendulum is given to test the efficiency of the design method.