一类不确定非仿射非线性系统自适应模糊控制

Adaptive fuzzy control of a class of uncertain non-affine nonlinear systems

针对一类非仿射非线性系统提出了自适应模糊控制方法,该方法把不确定非线性系统表示为定常线性子系统加非线性项的形式,然后采用模糊逻辑系统设计补偿器来消除非线性项的影响。引入时变死区函数对模糊逻辑系统中的未知参数进行自适应调节,并对时变死区设计了自适应律。证明了该方法可使闭环系统的所有信号均有界,且使跟踪误差收敛到原点的小邻域内。仿真结果表明了该方法的有效性。

In this paper, an adaptive fuzzy control scheme is presented for a class of non-affine nonlinear systems. In this scheme, the unknown nonlinear plant is represented by an equivalent model composed of a simple linear submodel plus a nonlinear term, a fuzzy system is introduced to compensate for nonlinear term. The unknown parameters in fuzzy logic system are adjusted by time-varying dead-zone which its size is adjusted adaptively. The scheme guarantees that all signals in the closed-loop system are bounded, and the tracking error converges to a small neighborhood of the origin. Simulation results demonstrate the effectiveness of the proposed approach.