不确定非线性系统的鲁棒自适应模糊滑模控制

Robust Adaptive Fuzzy Control for Uncertain Nonlinear Systems

对一类不确定非线性系统,利用滑模控制与模糊自适应控制相结合的方法,设计了基于模糊逻辑的鲁棒自适应模糊控制器.所提出的设计方法是用模糊模型逼近系统的不确定性项,根据滑模控制原理构造出模糊模型的参数自适应律,在线调节模糊模型的参数,同时处理存在逼近误差时的干扰抑制问题.该方法不仅能有效地消除高频抖振,对逼近误差具有较强的鲁棒性和对参考输入具有良好的跟踪性能,而且该方法不需要求取Lyapunov方程的公共解,且对不确定性的知识要求不高.该文用Lyapunov方法证明了闭环系统信号的全局有界性,以及整个系统的稳定性和鲁棒性.

A robust adaptive fuzzy controller based on fuzzy logic is presented by combining sliding model control and fuzzy control for a class uncertain nonlinear systems. By the proposed scheme, fuzzy model is employed to approximate uncertainties, the adaptive law of parameters in fuzzy model is constructed by the sliding model control theories, the influence of inherent approximate error is attenuated as well, and there is no need to find a common positive definite matrix satisfying matrix Lyapunov equation, there is no more requires for uncertainties. The stability and robustness of the entire system are proved by Lya- punov method.