非线性系统自适应鲁棒控制器设计

Design of an adaptive robust controller for nonlinear system

针对非线性系统模型参数具有不确定性的问题,利用二型模糊逻辑控制器特别适合于解决不确定性问题的优点和特点,提出二型模糊自适应滑模控制方法,设计了具有自适应和鲁棒性的非线性系统控制器。首先对非线性系统进行精确线性化,然后选取合适的滑模面,并设计了二型模糊逻辑系统,通过李亚普诺夫稳定性理论分析,得到自适应控制律。通过仿真实例验证,对比分析并验证了该控制方法能够克服不确定性参数的干扰,从而更好地控制非线性系统,使其具有一定的自适应性和鲁棒性。

To address the problem of a nonlinear system with uncertain parameters,in this paper we propose a type-2 fuzzy-sliding-mode control method for designing an adaptive robust controller for nonlinear systems. We based the proposed method on the characteristics of type-2 fuzzy logic systems,which are especially adapted for solving uncertainty problems. For this novel method,we first precisely linearized the nonlinear model. Then,we designed a type-2 fuzzy logic system with selected appropriate sliding mode surfaces to overcome the uncertain parameters. To rapidly stabilize the system,we also designed adaptive laws by direct constructive Lyapunov analysis. A comparison of the simulation results indicates that the proposed control scheme can overcome uncertainties and better control the nonlinear system,thus making the whole system more adaptive and robust.