一族具有未知扰动的非线性参数化系统的模糊控制

Fuzzy Control for a Class of Nonlinearly Parameterized Systems with Unknown Disturbance

本文研究一类具有未知扰动非线性参数化系统的模糊自适应跟踪控制问题,且其中所有的参数都是未知的。本文的主要特点是将非线性参数化函数作为一个整体并入其它的未知连续函数中,采用模糊逻辑系统对其进行逼近,而没有使用现有文献采用的分离变量技术,之后再结合递推技术设计出模糊自适应跟踪控制器,使得闭环系统的所有信号都是有界的且跟踪误差在均方意义下收敛到原点的某个小的剩余集内。最后给出仿真例子验证控制方法的有效性。

This paper investigates the problem of fuzzy adaptive tracking control for a class of nonlinearly parameterized systems with unknown external disturbance inputs and in which all parameters are unknown.The main advantage of this result is that unlike the existing results which deal with the nonlinearly parameterized functions by using the separation parameters technique,the nonlinearly parameterized functions are lumped into the continuous functions,furthermore,the fuzzy logic systems（FLS）in Mamdani type are applied to approximate them,and then,based on backstepping technique,the adaptive fuzzy backstepping control scheme is developed.It is proved that all the signals of the closed-loop systems are bounded and the tracking error can converge to a small residual set around the origin in the mean square sense.Finally,simulation results are given to demonstrate the effectiveness of the proposed control approach.