一类不确定非线性纯反馈系统的自适应鲁棒模糊控制

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．

Adaptive robust fuzzy control for a class of uncertain nonlinear pure-feedback systems

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.