输入非仿射不确定系统的跟踪控制

Track control of system with uncertainty and non-affine inputs

针对一类不确定性输入非仿射的混沌系统,结合模糊逻辑系统、非线性跟踪微分器以及扩展状态观测器,利用反演技术设计了一种新的控制器。该设计中,扩展状态观测器用来估计系统中的未知项及扰动项;模糊逻辑系统用来逼近扩展状态器不能很好处理的未知项,并且设计了误差补偿项;非线性跟踪微分器用来逼近虚拟控制量的导数;然后利用Lyapunov稳定性理论证明了闭环误差信号将渐进收敛到原点的残集内。对具有扰动和不确定性的输入非仿射混沌系统进行了仿真,同时针对一类非严格反馈系统进行了仿真,结果表明了该方法的可行性和有效性。

A novel control scheme combining the fuzzy logic system, nonlinear track differentiator and ex- tended state observer （ESO） is presented for a class of nonlinear chaotic systems with non affine inputs and un- certainties based on backstepping. During the design procedure, the ESO is employed to estimate the uncertain- ties and disturbance in the system and the fuzzy logic system with additional error compensation term is used to approximate the unknown parts which cannot be dealt with by ESO. Meanwhile, the nonlinear track differentia- tor is adopted to approximate the derivative of the virtual control. Lyapunov stahihty analysis certi{ieates that the closed loop errors will asymptotically converge to arbitrary small region of origin point. Simulation results of chaotic systems with non-affine inputs, modeling uncertainties and external disturbances and simulation for non- linear cascaded system in reference illustrate the feasibility and effectiveness of the proposed method.