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一类不确定非线性纯反馈系统的自适应鲁棒模糊控制
引用本文:刘艳军,王伟,王向东. 一类不确定非线性纯反馈系统的自适应鲁棒模糊控制[J]. 控制与决策, 2007, 22(6): 697-701
作者姓名:刘艳军  王伟  王向东
作者单位:大连理工大学,信息与控制研究中心,辽宁,大连,116023;沈阳工业大学,信息科学与工程学院,沈阳,110023
基金项目:国家自然科学基金项目(60534010)
摘    要:针对一类带有不确定性的非线性MIMO纯反馈系统,提出一种自适应鲁棒模糊控制方法,该方法放宽了已有文献对系统模型的限制条件,基于李雅普诺夫分析方法获得了控制输入和自适应律.在控制输入设计中,鲁棒控制项用于补偿逼近误差向量.通过选择适当的设计参数。提出的控制方法使得闭环系统的所有信号是一致有界的和跟踪误差向量的范数收敛到小的零邻域内.仿真结果表明了所提出方法的有效性.

关 键 词:自适应模糊控制  鲁棒控制  非线性纯反馈系统  不确定性  Backstepping
文章编号:1001-0920(2007)06-0697-05
收稿时间:2006-04-24
修稿时间:2006-04-242006-07-21

Adaptive robust fuzzy control for a class of uncertain nonlinear pure-feedback systems
LIU Yang-jun,WANG Wei,WANG Xiang-dong. Adaptive robust fuzzy control for a class of uncertain nonlinear pure-feedback systems[J]. Control and Decision, 2007, 22(6): 697-701
Authors:LIU Yang-jun  WANG Wei  WANG Xiang-dong
Affiliation:1. Research Center of Information and Control, Dalian University of Technology, Dalian 116023, China; 2. School of Information Science and Engineering, Shenyang University of Technology, Shenyang 110023, China.
Abstract:An adaptive robust fuzzy control approach is presented for a class of nonlinear MIMO pure-feedback systems with uncertainties. The restriction condition of the system model in the existing literatures is relaxed. The control inputs and the adaptation laws are obtained based on Lyapunov analysis approach. The robust control terms are utilized to compensate the approximation error vectors in the control input design. By choosing suitable design parameters, all the signals in the resulting closed-loop system are uniformly bounded and the norm of the tracking error vector converges to an arbitrarily small neighborhood around zero by using the presented control approach. Simulation results show the effctiveness of the presented approach.
Keywords:Adaptive fuzzy control   Robust control   Nonlinear pure-feedback systems   Uncertainty   Backstepping
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