基于后推技术的直接鲁棒自适应模糊控制

Direct robust adaptive fuzzy control via backstepping

针对一类带摄动的严格反馈非线性系统,基于后推设计方法,利用第一类模糊系统的逼近能力,提出了一种新的直接自适应控制方案。该方案中引入连续鲁棒项对系统的摄动部分进行抑制,并在自适应律中利用了leakage项以防止参数漂移。通过理论分析,证明了闭环系统是半全局一致终结有界的,跟踪误差收敛到一个小的残差集内。仿真结果表明了该方法的有效性。

A new design scheme of direct adaptive fuzzy controller for a class of perturbed strict feedback nonlinear systems is proposed. The design is based on the backstepping and the approximation capability of the first-type fuzzy systems. A continuous robust term is adopted to minify the influence of modeling error or disturbance. Leakage terms are incorporated into the adaptive law to prevent parameter drift. By theoretical analysis, the closed-loop control system is proven to be semiglobally uniformly ultimately bounded, with tracking error converging to a residual set. Simulation results demonstrate the effectiveness of the approach. \;