一类MIMO非线性不确定系统基于Backstepping设计的自适应模糊输出跟踪控制

Adaptive Fuzzy Output Tracking Control of MIMO Nonlinear Uncertain Systems via Backstepping

针对一类具有块三角形式的多输入多输出(MIMO)非线性不确定系统,基于Backstepping设计研究该系统的自适应模糊输出跟踪控制问题。模糊逻辑系统用作逼近系统的未知函数。通过理论分析,证明闭环系统是半全局一致终结有界的;跟踪误差收敛到一个小的残差集内。仿真结果表明了该方法的有效性。

The adaptive fuzzy output tracking control problem was discussed for a class of uncertain multi-input/multi-output （MIMO） nonlinear systems with the block-triangular structure via Backstepping. The fuzzy logic systems were used to approximate the unknown nonlinear functions. Through theoretical analysis, the closed-loop control system was proven to be semiglobally and uniformly, ultimately bounded, with tracking error converging to a residual set. Simulation results demonstrated the effectiveness of this approach.