带有未知死区模型的鲁棒自适应模糊控制

Robust Adaptive Fuzzy Control with Unknown Dead-zone Model

针对一类带有死区模型并具有未知函数控制增益的S ISO非线性系统,根据滑模控制原理,利用N ussbaum函数的性质,提出一种自适应模糊控制器的设计方案.该方案取消了函数控制增益符号已知和死区模型参数上界、下界已知的条件,通过引入最优逼近误差的自适应补偿项来消除建模误差和参数估计误差的影响.理论分析证明了闭环系统的稳定性和跟踪误差收敛到零.仿真结果表明了该方法的有效性.

A design scheme of adaptive fuzzy controller for a class of SIS0 nonlinear systems with unknown function control gain and dead-zone model is proposed. The design is based on the principle of sliding mode control and the property of Nussbaum function. The approach does not require a priori knowledge of the sign of the control gain, the upper bound and lower bound of dead zone model parameter. The adaptive compensation term of the optimal approximation error is adopted to minify the influence of modeling errors and parameter estimation errors. The closed-loop control system is shown to be stable in the sense that all signals involved are bounded, with tracking error converging to zero. Simulation results demonstrate the effectiveness of the approach.