摘要
针对非线性系统控制,设计了利用TSK(Takagi-Sugeno-Kang)模糊系统的自适应模糊控制器。所设计的自适应控制方法是参考模型自适应控制方法,而且利用Lyapunov函数保证了闭环系统的稳定性,同时推导了最优的自适应控制规律。首先,根据控制对象的输入输出数据建立TSK模糊模型,然后,由TSK模糊模型设计初期的TSK模糊控制器,并根据自适应规律随时调整模糊控制器参数。倒立摆系统的仿真实验验证了所设计的自适应模糊控制器的有效性。
Adaptive fuzzy controller for nonlinear systems is designed by using TSK （Takagi-Sugeno-Kang） fuzzy model. The adaptive control is model reference adaptive control. By using Lyapunov function, the stability of closed-loop system is assured and the best adaptive law is calcu- lated. The TSK fuzzy model is constructed based on the input-output data obtained from a target plant. Then, the TSK fuzzy controller is determined based on the TSK fuzzy model. Parameters of the fuzzy controller can be adjusted according to the adaptive rule. The adaptive fuzzy controller is applied to control an inverted pendulum system, and the results show the effectiveness of the proposed method.
出处
《控制工程》
CSCD
2008年第5期572-575,共4页
Control Engineering of China
