含未知系数和死区的非线性系统的自适应控制

Adaptive Fuzzy Control for Nonlinear Systems with Unknown Coefficients and Unknown Dead-Zones

针对一类单输入单输出的非线性严格反馈系统自适应模糊控制问题,本文提出了一种基于观测器的自适应模糊控制设计方案。针对虚拟控制系数未知且含有未知死区输入的受控系统,首先利用凸组合方法,设计了鲁棒观测器,估计未知的系统状态变量,并利用状态反馈对系统进行控制。将未知的死区输入等价成线性死区输入和有界非线性死区输入部分之和的形式,进而结合模糊自适应控制方法和Backstepping技术构造出理想的控制器。同时,根据Lyapunov稳定性理论,证明所提出的自适应模糊控制器能保证跟踪误差收敛到原点的一个小邻域,且自适应闭环系统的所有信号是有界的,并采用仿真算例验证该控制器的有效性。该研究解决了这类系统的状态估计问题,具有一定的实际应用价值。

An adaptive fuzzy control scheme based on observer is proposed for a class of nonlinear strict feedback systems with single input and single output. For a controlled system with unknown virtual control coefficients and dead zone inputs, a robust observer is designed using convex combination method to estimate unknown sys tern state variables and control the system with state feedback. The unknown dead zone input is equivalent to the sum of the linear dead zone input and the bounded nonlinear dead zone input, and then the ideal controller is constructed by combini time, according antee that the tracking closed loop system are controller. This study tion value. ng with the fuzzy adaptive control method and the Backs tepping technique. At the same punov stability theory, it is proved that the proposed adaptive fuzzy controller can guar error converges to a small neighborhood of the origin, and all signals of the adaptive bounded, and a simulation example is used to verify the effectiveness of the proposed solves the problem of state estimation of such systems and has certain practical application value.