不确定T-S模糊系统的跟踪控制器设计

The Design of Tracking Controller for T-S Fuzzy Systems with Uncertainty

研究基于观测器的不确定T-S模糊系统的跟踪控制器设计问题.利用T-S模糊方法对含有不确定性的非线性被控对象进行建模,对于给定代表系统期望状态的参考模型,在系统状态不可测及不确定项满足有界条件下,利用并行分布补偿的方法(parallel distributed compensation)设计基于观测器的模糊控制器,保证对于参考模型状态的跟踪,同时抑制扰动对跟踪误差的影响.借助Lyapunov稳定性定理及舒尔补引理将跟踪控制器的设计问题转化为一组线性矩阵不等式(linear matrix inequality)的可行解问题.该方法简单实用,仿真实例验证了此种方法的有效性与正确性.

The tracking controller for T-S fuzzy systems with uncertainty is designed based on the observer. TS fuzzy method is used to model the nonlinear controlled object with uncertainty. For given expected state tracking model,when the state of the system is unmeasurable and the uncertainties are bounded,a fuzzy controller based on the observer is designed by means of parallel distributed compensation（ PDC）. The controller guarantees that the states of the close-loop system track the states of the reference model,and that the influence of the disturbance is reduced. By Lyapunov stability theorem and Shur Complement Lemma,the design of the tracking controller is transformed into a feasible problem for a set of linear matrix inequalities（ LMI）.The simulation example is given to testify the validity and efficiency of the proposed method.