一类多变量非线性系统的自适应模糊控制

Adaptive Fuzzy Control for a Class of MIMO Nonlinear System

对一类不确定多变量非线性系统提出了自适应模糊控制方法。该方法采用模糊逻辑系统组成的矩阵逼近控制器中的逆矩阵以避免控制器的奇异性问题,同时用误差补偿项对模糊逻辑系统的逼近误差进行补偿。证明该方法不但能使闭环系统的所有信号有界,而且通过适当调整控制器及自适应律中设计参数,可使跟踪误差收敛到原点的小邻域内。仿真结果验证了方法的有效性。

An adaptive fuzzy control method is presented for a class of uncertain MIMO nonlinear systems. In order to avoid the control- ler singularity problem, the matrix composed of fuzzy logic systems is used to approximate the matrix inverse in the controller, and the error compensator is used to eliminate approximations errors. It is proved that the proposed scheme not only guarantees the boundedness of all signals in the closed-loop system, but also makes the tracking error converge to a small neighborhood of the origin by adjusting the designed parameters of controller and adaptive laws. Simulation results show the effectiveness of the proposed method.