一类基于高增益观测器的多输入多输出非线性时滞系统的自适应模糊动态面控制

Adaptive Fuzzy Dynamic SurfaceControl of A Class of Time-delay Nonlinear MIMO Systems Based on High-Gain Observer

针对一类多输入多输出且状态不可测非线性时滞系统,提出了一种自适应模糊backstepping输出反馈控制方案。因为模糊逻辑系统的逼近性,利用其对未知函数进行逼近,设计高增益非线性模糊观测器估计不可测状态。并结合自适应backstepping技术和动态面控制技术,提出了自适应模糊backstepping输出反馈控制策略。证明了系统中所有信号都一致有界,此外,选择适当的参数能够保证跟踪误差和观测误差收敛到很小的一个领域内。通过仿真验证了所提控制策略的有效性。

The adaptive fuzzy backstepping output feedback control approach was developed for a class of multi-input and multi-output （MIMO） nonlinear systems in immeasurable states and time-delays. As fuzzy logic system were characterized by approxmaton, an adaptive fuzzy high-gain observer was designed to estimate the unmeasured states. Fuzzy logic systems were employed to approximate the unknown functions, and thus the high-gain observer of nonlinear was also developed. And combining the adaptive backstepping dynamic surface control （DSC） technique, an adaptive fuzzy output feedback control scheme was proposed. The proposed control scheme guarantees that all the signals are semi-globally uniformly ultimately bounded （SGUUB）. In addition the suitably chosen parameters are able to guarantee that tracking error converges to a small neighborhood of the origin. Simulation results show the effectiveness and the feasibility of the proposed control scheme.