摘要
研究了非线性系统的跟踪控制问题 ,基于 HM模型对非线性系统进行描述 ,并将全局模糊模型表示成不确定系统形式。在满足匹配条件下 ,针对未知不确定界 ,采用自适应鲁棒控制器 ,利用自适应变量信息来补偿系统的不确定性信息 ,实现了非线性系统的渐近跟踪控制。一级倒立摆仿真实验 ,验证了方案的有效性。控制器结构简单 ,规则少 ,具有应用价值。
The problem of tracking control for nonlinear system is studied. The nonlinear system is described based on HM model, and the global fuzzy model is translated into the system with uncertainties . Under the condition that the uncertainties satisfy matching term, and unknowing the bound of uncertainties, the asymptotical tracking control is realized for nonlinear system by means of adaptive robust controller which utilizes variable information of adaptive compensating the uncertainties information of system. The structure of controller is simple with few fuzzy rules. The validity is tested with the simulation experiment of an inverted pendulum.
出处
《控制与决策》
EI
CSCD
北大核心
2003年第2期247-249,253,共4页
Control and Decision
基金
国家自然科学基金资助项目 (6 9874 0 4 2 )
