多输入多输出多重时延非线性系统的自适应模糊控制

Adaptive fuzzy control for MIMO nonlinear systems with multiple time delays

针对多输入多输出多重时延非线性系统,提出了一种自适应模糊跟踪控制方案．该方案有机综合了自适应控制和H∞控制.文中构建了一种自适应时延模糊逻辑系统用来逼近有多重时延的未知函数;设计了H∞补偿器来抵消模糊逼近误差和外部扰动．根据跟踪误差给出了参数调节规律．构造了包含时延的李雅普诺夫函数,从而证明了误差闭环系统满足期望的H∞跟踪性能．仿真结果表明了该方案的可行性．

This paper presents an adaptive fuzzy tracking control scheme for MIMO nonlinear systems with multiple time delays. The scheme synthesizes adaptive control and H-infinity control. Firstly, an adaptive time-delay fuzzy logic systems is constructed and used to approximate the unknown functions with multiple time delays. The H-infinity compensator is then designed to eliminate fuzzy approximation errors and external disturbances. The adjusting laws for parameters are also derived by the tracking error. Furthermore, the Lyapunov function with time delays is constructed, and the error closed-loop system is proved to satisfy the desired H-infinity tracking performance. Finally, the simulation results demonstrate that the control scheme is feasible.