摘要
针对一类多输入多输出不确定非线性系统,提出一种基于模糊辨识的混合鲁棒自适应控制方法。该方法探讨了自适应模糊控制器的参数自适应律由跟踪误差和逼近误差共同进行调节,并从理论分析和仿真角度证明了该方法比参数自适应律仅用跟踪误差进行调节的控制器具有更好的跟踪效果,该方法加快了系统跟踪误差的收敛速度。将该算法用于两连杆机械手轨迹跟踪,仿真结果表明该算法具有跟踪精度高,收敛速度快的优点。
A hybrid robust adaptive control based on fuzzy identification for a class of multiple-input -multiple-output nonlinear systems was proposed with plant unknown and external disturbances. The adaptive law utilized two types of error in the adaptive fuzzy controller, the tracking error and approximation error. The theory proof and simulation results demonstrate the proposed method is superior to the adaptive law using only tracking error in the control system. This control method is applied to a two link robot manipulator, and simulation results show its performance of high tracking precision and good convergence.
出处
《系统仿真学报》
EI
CAS
CSCD
北大核心
2008年第1期158-161,195,共5页
Journal of System Simulation
基金
中国博士后基金项目(20060400961)
沈阳市科技基金项目(1063287-1-00)
国家重点基础研究发展计划项目(2002CB312201)
关键词
模糊辨识
鲁棒自适应
跟踪误差
逼近误差
非线性系统
fuzzy identification
robust adaptive
tracking error
approximation error
nonlinear system