共查询到20条相似文献,搜索用时 92 毫秒
1.
将非线性系统用T-S模糊动态模型描述,并将全局模糊系统模型表示成不确定系统形式采用新的鲁棒控制器设计方法,设计出使全局模糊系统模型渐近稳定的线性控制器避免了并行分配补偿法中求解公共矩阵P的困难.一级倒立摆的模糊控制器设计实例,证明了方案的简洁有效. 相似文献
2.
3.
4.
5.
6.
7.
8.
9.
10.
针对非线性时变时延系统,采用输入时延和自由权重矩阵方法研究模糊采样最优控制问题.应用T-S模糊系统表征非线性系统,控制器是零阶保持采样信号.由线性矩阵不等式给出最优控制准则,所设计的模糊采样控制器在闭环系统渐近稳定意义下可保证期望最优控制性能.最后,通过卡车拖车系统实验验证模糊采样控制设计方案的可行性. 相似文献
11.
TONG Shao-Cheng CHAI Tian-You 《自动化学报》2005,(2)
In this paper, an indirect adaptive fuzzy output feedback controller with supervisory mode for a class of unknown nonlinear systems is developed. The proposed approach does not need the availability of the state variables, moreover, a supervisory controller is appended to the adaptive fuzzy controller to force the state to be within the constraint set. Therefore, if the adaptive fuzzy controller cannot maintain the stability, the supervisory controller starts to work to guarantee stability. On the other hand, if the adaptive fuzzy controller works well, the supervisory controller will be de-activated. The overall adaptive fuzzy control scheme guarantees the stability of the whole closed-loop systems. The simulation results confirm the effectiveness of the proposed method. 相似文献
12.
非线性系统的间接自适应模糊输出反馈监督控制 总被引:1,自引:0,他引:1
In this paper, an indirect adaptive fuzzy output feedback controller with supervisory mode for a class of unknown nonlinear systems is developed. The proposed approach does not need the availability of the state variables, moreover, a supervisory controller is appended to the adaptive fuzzy controller to force the state to be within the constraint set. Therefore, if the adaptive fuzzy controller cannot maintain the stability, the supervisory controller starts to work to guarantee stability. On the other hand, if the adaptive fuzzy controller works well, the supervisory controller will be deactivated. The overall adaptive fuzzy control scheme guarantees the stability of the whole closed-loop systems. The simulation results confirm the effectiveness of the proposed method. 相似文献
13.
Saeed Hashemnia Masoud Shariat Panahi Mohammad J. Mahjoob 《Multibody System Dynamics》2014,31(2):147-168
Guaranteed stability fuzzy controller for stabilization the motion of an unmanned bicycle is proposed. First, a fuzzy control system capable of automatically balancing an unmanned bicycle through tracking desired roll angle is developed. Fuzzy logic controller membership functions are defined utilizing scaling factors. To guarantee the stability of the closed loop system, similar to previous approaches reported in the literature, fuzzy If–Then rules are constructed based on Lyapunov stability criterion. It is indicated that the proposed fuzzy controller violates Lyapunov stability criterion. The reason of such a violation is argued in detail. To cope with this shortcoming, some modifications are made to the control strategy to assure stability. Through these modifications, the modified fuzzy controller is developed which simultaneously balances the bicycle and guarantees stability while minimizing roll angle tracking error and its derivative. It is indicated that the improved fuzzy controller can adapt to a variety of initial conditions. Moreover, robustness of the controller against parameter variation is verified through its implementation on different bicycle designs (different sets of bicycle parameters). Simulation results confirm the efficacy of the proposed fuzzy controller in terms of settling time and overshoot in comparison with previous studies. Sensitivity analysis of the controller efficiency with respect to system parameters is also assessed. 相似文献
14.
15.
H∞环路成形方法设计的控制器阶次较高,不便于工程实现和参数调整;用传统方法确定模糊控制器隶属度函数的参数和模糊规则比较费时且难以保证鲁棒性能和时频域性能指标.针对上述情况,提出了一种综合运用H∞环路成形和自适应神经模糊推理系统来设计模糊控制器的方法.首先采用H∞环路成形设计方法,得到鲁棒裕量、动态和稳态性能都符合要求的控制器,然后用自适应神经模糊推理系统来逼近此控制器,最后根据自适应神经模糊推理系统参数确定相应的模糊控制器规则和参数.该方法确定模糊控制器隶属度函数的参数精确而省时,且能保证控制器具有较强的鲁棒性和良好的控制效果.通过对小车倒立摆系统进行的仿真,验证了该控制器设计方法的有效性. 相似文献
16.
Wei Li 《Fuzzy Systems, IEEE Transactions on》1998,6(4):449-463
Presents approaches to the design of a hybrid fuzzy logic proportional plus conventional integral-derivative (fuzzy P+ID) controller in an incremental form. This controller is constructed by using an incremental fuzzy logic controller in place of the proportional term in a conventional PID controller, By using the bounded-input/bounded-output “small gain theorem”, the sufficient condition for stability of this controller is derived. Based on the condition, we modify the Ziegler and Nichols' approach to design the fuzzy P+ID controller. In this case, the stability of a system remains unchanged after the PID controller is replaced by the fuzzy P+ID controller without modifying the original controller parameters. When a plant can be described by any modeling method, the fuzzy P+ID controller can be determined by an optimization technique. Finally, this controller is used to control a nonlinear system. Numerical simulation results demonstrate the effectiveness of the fuzzy P+ID controller in comparison with the conventional PID controller, especially when the controlled object operates under uncertainty or in the presence of a disturbance 相似文献
17.
18.
A robust stabilization problem for fuzzy systems is discussed in accordance with the definition of stability in the sense of Lyapunov. We consider two design problems: nonrobust controller design and robust controller design. The former is a design problem for fuzzy systems with no premise parameter uncertainty. The latter is a design problem for fuzzy systems with premise parameter uncertainty. To realize two design problems, we derive four stability conditions from a basic stability condition proposed by Tanaka and Sugeno: nonrobust condition, weak nonrobust condition, robust condition, and weak robust condition. We introduce concept of robust stability for fuzzy control systems with premise parameter uncertainty from the weak robust condition. To introduce robust stability, admissible region and variation region, which correspond to stability margin in the ordinary control theory, are defined. Furthermore, we develop a control system for backing up a computer simulated truck-trailer which is nonlinear and unstable. By approximating the truck-trailer by a fuzzy system with premise parameter uncertainty and by using concept of robust stability, we design a fuzzy controller which guarantees stability of the control system under a condition. The simulation results show that the designed fuzzy controller smoothly achieves backing up control of the truck-trailer from all initial positions 相似文献
19.