一类非线性系统的自适应模糊滑模定位控制

Positioning control for a class of nonlinear systems based on adaptive fuzzy sliding mode

针对一类由多子系统组成的,具有建模误差和未知不确定性的多变量非线性系统,提出了一种自适应鲁棒定位控制方案。分别在系统数学模型已知或未知的情形下,通过对不确定性的未知范数界描述,基于Lya-punov理论和Barbalat引理,给出了滑模鲁棒控制器的综合设计方法及其自适应控制律,保证整个闭环误差系统的稳定。该方法减少了对系统模型精确度的依赖,避免了传统方法对不确定性的人为预估行为。最后,通过船舶动力定位系统的控制仿真表明了本方法的有效性。

An adaptive robust positioning control scheme is produced for a class of multivariable nonlinear systems with some modeling error and unknown uncertainties.The multivariable systems are composed of some subsystems,and the uncertainties are assumed to be norm-bounded,but the upper bound is unknown.Based on the Lyapunov theory and the Barbalat lemma,the synthetical design procedures for the sliding mode controller and the adaptive law are given,when the system mathematical models are known or unknown,respectively,so that the closed-loop error systems are stable.This method reduces the dependence on the precision of systems,also,the traditional and contrived estimation of the uncertainty is avoided.Simulation of the ship with dynamic positioning control systems show the effectiveness of the proposed method.