摘要
针对反馈线性化后的不确定非线性对象 ,提出了一种鲁棒自适应控制方法 .采用模糊模型逼近不确定项 ,用逐步后推技术构造出自适应律 ,在线调节模糊模型的参数 ,同时处理存在估计误差时的干扰抑制问题 .该方法还用于感应电动机速度控制的仿真 .用李亚普诺夫方法证明了整个系统的稳定性和鲁棒性 .该方法适用于任意有界时变干扰 。
Based on the feedback linearized model, a robust adaptive control method is presented. Fuzzy model is employed to approximate uncertainties. The adaptive law of parameters in fuzzy model is constructed, and the influence of inherent approximation error is attenuated as well. The proposed method is applied to the simulation of speed control of induction motor. The stability and robustness of the entire system is proved by Lyapunov method. The proposed method is applied to arbitrary time-varying and bounded disturbances. Human knowledge of disturbances can be used by fuzzy model.
出处
《自动化学报》
EI
CSCD
北大核心
2002年第3期356-362,共7页
Acta Automatica Sinica
基金
清华大学博士生基金和教育部"二一一"工程基金资助
关键词
非线性系统
鲁棒自适应模糊控制
自适应模糊模型
控制理论
LYAPUNOV方法
Adaptive control systems
Fuzzy control
Induction motors
Lyapunov methods
Mathematical models
Robustness (control systems)
Speed control
System stability
Uncertain systems
