非线性系统的自适应模糊反演控制器设计

Adaptive Fuzzy Inverse Control Approach for Uncertain Nonlinear System

针对一类非线性系统,考虑到系统的完全未知模型参数和扰动,提出了自适应模糊反演控制方法。首先因为模糊系统可以以任意精度渐近的逼近任意连续函数的优越性,采用自适应模糊控制理论设计模糊系统逼近系统未建模动态。然后采用反演设计方法逐步设计控制律和更新律,并用Lyapunov综合方法证明其最终一致渐进稳定。最后用仿真验证所给方法的正确性。

In this paper, a novel adaptive fuzzy controller for uncertain nonlinear systems was proposed to attenuate the effects caused by unmodeled dynamics and disturbances. Because of the advantages of fuzzy systems, which can uniformly approximate nonlinear continuous functions to arbitrary accuracy, the adaptive fuzzy control theory was then employed to derive the update laws for approximating the uncertain nonlinear functions of the dynamical system. Furthermore, the adaptive inverse control scheme was used to derive the control law and update law, and the uniformly asymptotically stability was proved by Lyapunov synthesis method. Simulation results show the validity of the proposed approach.