基于观测器的一类非线性系统的自适应模糊控制

Observer-based adaptive fuzzy control for a class of nonlinear systems

针对一类有界的不确定非线性系统设计了模糊观测器和自适应控制器.该方法不需要系统状态完全可测的条件,而是通过模糊观测器估计系统的状态变量并且能保证观测误差是一致最终有界的.该自适应控制器取得了良好的控制效果并且保证了跟踪误差的一致最终有界性.仿真结果表明了本文所提出的方法有效性.

<Abstrcat> An observer-based robust adaptive controller for a class of nonlinear systems with uncertainties and external bounded disturbances is presented.It is assumed that only the system output variable can be measured,the state variables are estimated via a fuzzy observer that can guarantee the uniformly ultimate bounds of the observer errors.The adaptive controller with a fuzzy observer is designed to control a class of nonlinear systems with uncertainties and external bounded disturbances,and the adaptive controller can guarantee the uniformly ultimate bounds of the tracking errors.Simulation results demonstrate the effectiveness of the proposed method in order to achieve the desired performance.