基于模糊逻辑的一类非线性系统直接自适应控制

Direct Adaptive Control of a Class of Nonlinear System Based on Fuzzy Logic

针对一类连续非线性不确定系统 ,基于模糊逻辑提出了一种新的自适应跟踪控制方法 .在此方法中 ,控制器由两部分组成 :模糊逼近控制器 (FAC)和模糊滑模补偿控制器 (FSMCC) .其中 ,FAC利用模糊逻辑系统全局逼近理想控制器 ,FSMCC用于全局补偿逼近误差和系统的不确定性及消除外部干扰的影响 .整个闭环控制系统在Lyapunov意义下全局渐进稳定且系统的跟踪误差收敛于零的某一邻域内 .

On the basis of the fuzzy logic, a direct adaptive tracking control architecture is developed for a class of nonlinear dynamic systems. In the procedure, the controller is composed of fuzzy approximate controller (FAC) and fuzzy sliding mode compensating controller (FSMCC), The FAC is used to approximate the optimal controller globally, and the FSMCC is designed globally for compensating the approximation errors and uncertainties of systems, and meanwhile attenuating the external disturbance. Global asymptotic stability of the whole closed control system is obtained in the Lyapunov Sense, with tracking errors convergency to a neighborhood of zero. Simulation results demonstrate the effectiveness of the proposed algorithm.