基于Backstepping的模糊自适应跟踪控制

Backstepping-based Fuzzy adaptive tracking control

主要研究了单输入—单输出非线性系统的模糊自适应输出跟踪控制问题。模糊逻辑系统用于逼近系统中未知的非线性函数,然后基于Backstepping设计方法给出了系统性的输出跟踪控制器的设计方法。所构造的模糊控制器确保跟踪误差可以充分小,同时系统中的各个变量保持有界性。所提出方法的优越性在于自适应律中在线学习参数的数目独立于模糊规则的选择,从而避免了以往模糊自适应控制算法中自适应学习参数过多的缺点。最后,以一个例子进一步说明文中所得结论的有效性。

This paper focuses on the problem of tracking control for SISO nonlinear systems. Fuzzy logic systems are used to approximate the unknown nonlinear functions in systems, then the systematic design scheme of output tracking controller is proposed based on the backstepping technique. The suggested fuzzy controller guarantees the tracking error to be small enough, simultaneity,all the variables involved in the closed-loop systems remain bounded. The advantage of the method proposed in this paper is that the number of the adaptive parameters is independent on the choice of the fuzzy rules,Therefore, the shortcoming that there are too many adaptive parameters in the existing results is overcome. Finally, an example is used to illustrate the effectiveness of the method developed in this paper.