模糊输出反馈实现动态不确定非线性系统的几乎干扰解耦

Almost disturbance decoupling for dynamic uncertain nonlinear systems via fuzzy output feedback

研究一类单输入单输出动态不确定非线性系统的几乎干扰解耦问题.首先设计一类新型的模糊高增益观测器估计非线性系统的未知状态;然后结合自适应模糊backstepping控制、小增益定理和改变供能函数方法,给出鲁棒自适应模糊控制器的设计.所设计的控制器不仅可以保证整个闭环系统在输入到状态实际稳定意义下稳定,同时抑制了干扰对输出的影响.仿真结果表明了所提出控制方法的有效性.

The problem of disturbance decoupling with stability is investigated for a class of single-input single-output（SISO） nonlinear systems, in which the states are not available for feedback. A novel fuzzy adaptive high-gain observer is firstly designed to estimate the unmeasured states. Then, by combining adaptive fuzzy backstepping design and small-gain theorem with supplying function, an output feedback control design is described to achieve the asymptotic stability of the closed-loop system in the sense of input-to-state practically stability（ISpS） with respect to the disturbance input, while the effect of the disturbance on output is diminished to an arbitrary degree of accuracy. Simulation results show the effectiveness of the proposed approach.