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This paper describes the design of a robust adaptive fuzzy controller for an uncertain single‐input single‐output nonlinear dynamical systems. While most recent results on fuzzy controllers considers affine systems with fixed rule‐base fuzzy systems, we propose a control scheme for non‐affine nonlinear systems and a dynamic fuzzy rule activation scheme in which an appropriate number of the fuzzy rules are chosen on‐line. By using the proposed scheme, we can reduce the computation time, storage space, and dynamic order of the adaptive fuzzy system without significant performance degradation. The Lyapunov synthesis approach is used to guarantee a uniform ultimate boundedness property for the tracking error, as well as for all other signals in the closed loop. No a priori knowledge of an upper bounds on the uncertainties is required. The theoretical results are illustrated through a simulation example. Copyright © 2002 John Wiley & Sons, Ltd. 相似文献
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Yi‐Shao Huang 《国际强度与非线性控制杂志
》2012,22(15):1720-1742
》2012,22(15):1720-1742
In this paper, a novel decentralized robust adaptive fuzzy control scheme is proposed for a class of large‐scale multiple‐input multiple‐output uncertain nonlinear systems. By virtue of fuzzy logic systems and the regularized inverse matrix, the decentralized robust indirect adaptive fuzzy controller is developed such that the controller singularity problem is addressed under a united design framework; no a priori knowledge of the bounds on lumped uncertainties are being required. The closed‐loop large‐scale system is proved to be asymptotically stable. Simulation results confirmed the validity of the approach presented. Copyright © 2011 John Wiley & Sons, Ltd. 相似文献
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A novel decentralised direct adaptive fuzzy controller design is presented for a class of large-scale nonaffine uncertain nonlinear systems in this article. By integrating a fuzzy logic system and H ∞ tracking technique, the designed controller is able to adaptively compensate for interconnections and disturbances with unknown bounds, but none of the control and adaptation laws contains a sign function so that control chattering can be shunned. The closed-loop large-scale system is guaranteed to be asymptotically stable and obtain good H ∞ tracking performance. The control approach developed is applied to the following control problem of a string of vehicles within an automated highway system (AHS) and simulation results verify its validity. 相似文献
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一类非线性MIMO系统的直接自适应模糊鲁棒控制 总被引:9,自引:2,他引:9
针对一类未知的非线性MIMO系统, 本文提出了一种直接自适应模糊鲁棒控制设计方法. 理论分析和仿真实验都已证明, 该方法确保闭环系统全局稳定, 获得H∞跟踪性能指标, 外部干扰、模糊逻辑逼近误差和输入对输出的交叉耦合可衰减到给定的水平, 系统鲁棒性好. 相似文献
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针对一类不确定非仿射非线性系统的跟踪控制问题, 提出一种鲁棒Backstepping 控制策略. 首先, 为利用仿 射非线性方法设计控制器, 给出一种适用于全局的非仿射非线性近似方法; 然后, 设计快速收敛非线性微分器以估计复合干扰和获取虚拟信号的微分, 进而给出不确定非仿射非线性系统的复合控制器, 其中鲁棒项和阻尼项分别用于减少逼近误差和近似方法中动态误差对系统跟踪的影响; 最后, 通过仿真实验验证了所提出方法的有效性. 相似文献
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Ahsene Boubakir Salim Labiod Fares Boudjema Franck Plestan 《International journal of systems science》2014,45(12):2490-2498
This paper addresses the problem of linear adaptive control for a class of uncertain continuous-time single-input single-output (SISO) nonaffine nonlinear dynamic systems. Using the implicit function theory, the existence of an ideal controller which can achieve control objectives is firstly demonstrated. However, this ideal controller cannot be known and computed even if the system model is well known. The aim of our work is to construct this unknown ideal controller using a simple linear controller with the free parameters updated online by a stable adaptation mechanism designed to minimise the error between the unknown ideal controller and the used linear controller. Since the mathematical model of the system is assumed unknown in this work, the proposed control scheme can be regarded as a simple model free controller for the studied class of nonaffine systems. We prove that the closed-loop system is stable and all the signals are bounded. An application of the proposed linear adaptive controller for a nonaffine system is illustrated through the simulation results to demonstrate the effectiveness of the proposed control scheme. 相似文献
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基于自适应非线性阻尼,提出一种鲁棒自适应输出反馈控制方法。该方法适用于带有未建模动态、未知非线性、有界扰动、未知非线性参数和不确定控制系数的多输入多输出非线性系统。理论证明,在一定的假设条件下,该方法能保证闭环系统所有动态信号有界;不论有多少不确定非线性参数、多高阶的非线性系统,只需要一个自适应控制参数和观察参数;而且通过选择适当的控制器和观测器参数,能使控制误差和估计误差达到任意小。仿真结果表明了所提出方法的有效性。 相似文献
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This paper concentrates upon the issue of adaptive fuzzy tracing control for a class of nonstrict-feedback nonlinear systems output with hysteresis via an event-triggered strategy. To handle the difficulty caused by the nonstrict nonlinear systems, the variable separation technique is introduced. The design difficulty of output hysteresis is addressed by employing a hysteresis inverse function and Nussbaum function to compensate unmeasurable state signal. Meanwhile, the fuzzy logic system (FLS) is used to estimate the unknown function at each step of recursion. Moreover, by devising the relative threshold event-triggered mechanism (ETM), the frequency of actuators and controllers can be largely decreased. Thus, the adaptive fuzzy event-triggered tracing control strategy is proposed by combining the barrier Lyapunov function and backstepping technique. With the proposed scheme, it is theoretically demonstrated that all signals in the closed-loop system are bounded, and the tracing errors are driven to a small neighborhood of the origin under the output constraint. Eventually, two examples demonstrate the efficacy of the proposed control strategy. 相似文献
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An adaptive fuzzy design for fault-tolerant control of MIMO nonlinear uncertain systems 总被引:3,自引:0,他引:3
This paper presents a novel control method for accommodating actuator faults in a class of multiple-input multiple-output (MIMO) nonlinear uncertain systems.The designed control scheme can tolerate both the time-varying lock-in-place and loss of effectiveness actuator faults.In each subsystem of the considered MIMO system,the controller is obtained from a backstepping procedure;an adaptive fuzzy approximator with minimal learning parameterization is employed to approximate the package of unknown nonlinear functions in each design step.Additional control effort is taken to deal with the approximation error and external disturbance together.It is proven that the closed-loop stability and desired tracking performance can be guaranteed by the proposed control scheme.An example is used to show the effectiveness of the designed controller. 相似文献
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An important result in the robust adaptive control of continuous-time systems, using the persistent excitation of the reference input, was recently given by Narendra and Annaswamy (1986, IEEE Trans. Aut. Control, AC-31, 306–315). According to this result, the global boundedness of all the signals in the adaptive system can be assured if the degree of persistent excitation of the reference input is larger than an appropriate bound on the external disturbance. The main theorem in Narendra and Annaswamy (1986) is proved for a class of plants characterized by the property that the reference model used in the adaptive controller could be chosen to be strictly positive real, a condition which involves constraints on the relative degree of the plant. This paper presents a generalization of the above result to plants of arbitrary relative degree. Together with the work reported in the earlier paper, it demonstrates that the boundedness of all the signals in an adaptive system in the presence of bounded disturbances and arbitrary initial conditions can be assured by increasing the degree of persistent excitation of the reference input. 相似文献
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Shubo Wang 《国际强度与非线性控制杂志
》2023,33(1):559-573
》2023,33(1):559-573
This article investigates the barrier lyapunov function-based adaptive robust control scheme for nonaffine nonlinear systems with unknown system dynamics. First, the nonaffine system is converted into affine system via a combination of first-order filter and coordinate transformation, then a high-gain observer is utilized to reconstruct the immeasurable states of the derived affine system. Second, a robust integral of the sign of the error (RISE) is incorporated into the control design to reject the unknown dynamics. Third, a barrier lyapunov function based design method is used to ensure that the input vector to the parameter estimation remain within a predefined region. Then, an adaptive robust control scheme with only one adaptive parameter by using the upper bound estimation is developed. Finally, numerical simulations validate the efficacy of the developed control scheme. 相似文献
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Gang Sun Zhouhua Peng Hao Wang Weiyao Lan Mingxin Wang 《International journal of control》2013,86(5):912-922
In this paper, a robust adaptive neural control design approach is presented for a class of uncertain pure-feedback nonlinear systems. To reduce the complexity of the both controller structure and computation, only one neural network is used to approximate the lumped unknown function of the system at the last step of the recursive design process. By this approach, the complexity growing problem existing in conventional methods can be eliminated completely. Stability analysis shows that all the closed-loop system signals are uniformly ultimately bounded, and the steady state tracking error can be made arbitrarily small by appropriately choosing control parameters. Simulation results demonstrate the effectiveness and merits of the proposed approach. 相似文献
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