一类非线性系统的间接自适应模糊控制器的研究

On indirect adaptive fuzzy controller for a class of nonlinear systems

研究一类不确定非线性系统的间接自适应模糊控制问题。基于 Wang提出的监督控制方案 ,利用 型模糊系统的逼近能力 ,提出一种自适应模糊控制器设计的新方案。该方案通过引入最优逼近误差的自适应补偿项来消除建模误差的影响 ,从而在稳定性分析中取消了要求逼近误差平方可积或逼近误差的上确界已知的条件。理论分析证明了闭环控制系统是全局稳定的 ,跟踪误差收敛到零 ;

The problem of indirect adaptive fuzzy control for a class of uncertain nonlinear systems is studied.Based on the supervisory control strategy and the approximation capability of the first type fuzzy systems, a new design scheme of adaptive fuzzy controller is proposed.The adaptive compensation term of the optimal approximation error is adopted.The approach does not require the optimal approximation error being square integrable or the supremum of the optimal approximation error being known.By theoretical analysis, the closed loop fuzzy control system is proven to be globally stable, with tracking error converging to zero. Simulation results demonstrate the effectiveness of the approach.