一类非线性系统的直接自适应模糊鲁棒控制

Direct Adaptive Fuzzy Robust Control for a Class of Nonlinear System

针对一类含有不确定项的非线性系统,以Wang Lixin提出的自适应模糊算法为基础,设计了一种新的直接自适应模糊鲁棒控制算法。首先利用直接自适应模糊控制器代替原有的监督控制器,在控制增益函数未知的情况下,设计出了一种在线调节的自适应律;之后加入鲁棒补偿项,放宽了有界参数的要求,达到了控制目的;利用Lyapunov稳定性理论分析证明,保证控制系统跟踪误差渐进收敛到0,且所有变量信号一致有界性。仿真结果证明了控制算法的有效性。

A new kind of direct adaptive fuzzy robust control algorithm was proposed for a class of uncertain nonlinear system control problem based on Wang Lixin＇s adaptive fuzzy. In this paper, the supervisory controller is replaced by the direct adaptive fuzzy controller, adaptive laws, which are adjusted on line for unknown control gain function of the system is designed and the robust compensation controller is added. Requirement of bounding parameter values are relaxed. All parameter adaptive laws and robust control terms are derived based on Lyapunov stability analysis, so that convergence to zero of tracking errors and boundary of all signals in the closed-Imp system can be guaranteed. Lastly simulation results show the effectiveness of the approach.