一类非线性MIMO系统的间接自适应模糊鲁棒控制

Indirect adaptive fuzzy robust control for a class of nonlinear MIMO systems

针对一类模型未知的非线性 MIMO系统 ,将自适应控制、H∞控制与模糊逻辑逼近方法结合到一起 ,应用“主导输入”的概念 ,提出了一种间接自适应模糊鲁棒控制设计方法。该方法确保了闭环系统全局稳定 ,并获得了 H∞跟踪性能指标 ,使外部干扰。

The indirect adaptive fuzzy robust control scheme is proposed by applying 'dominant input' concept for a class of unknown nonlinear MIMO systems.The scheme combines adaptive control with H ∞ control and fuzzy logic approximation method.It is shown that the proposed scheme guarantees the closed loopsystemisgloballystableandachievesH ∞traking performance idex, meanwhile the influences of external disturbance and fuzzy logic approximation error and the cross coupling of input to output on the tracking error are attenuated to a prescribed level.