MIMO非仿射非线性系统的自适应模糊控制

Adaptive fuzzy control for MIMO non-affine nonlinear systems

针对一类多输入多输出非仿射非线性系统,设计了一种自适应模糊H∞控制方案,该方案把自适应模糊控制和高增益观测器结合起来.利用多变量的隐函数定理,证明了非仿射系统控制器的存在性.通过设计高增益观测器,解决了系统的状态不可测量问题,实现系统的输出反馈控制,模糊自适应控制增强了系统在线逼近干扰及处理系统不确定的能力.仿真结果表明了控制方案的有效性及优越性.

For a class of multi-input multi-output（MIMO） non-affine nonlinear systems,an adaptive fuzzy H-infinity control scheme is proposed which combines the adaptive fuzzy control with the high gain observer.Based on the implicit function theory,the existence of an ideal non-affine nonlinear system controller,that can achieve control objectives,is firstly shown.A high gain observer is employed to obtain the unavailable states in measurement for constructing the output feedback controller.To achieve high precision,the adaptive fuzzy control scheme is designed for improving the approximation ability of the observer on-line.Finally,the simulation results are performed to demonstrate the superiority and the effectiveness of the proposed method.