| 带有鲁棒控制项的MIMO非线性系统的模糊控制 |
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| 引用本文： | 孙多青,马晓英,俞百印,李霞.带有鲁棒控制项的MIMO非线性系统的模糊控制[J].浙江大学学报(自然科学版 ),2007,41(10):1620-1624. |
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| 作者姓名： | 孙多青 马晓英 俞百印 李霞 |
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| 作者单位： | 1. 河北科技师范学院 数理系,河北 秦皇岛 066004；2.中国空间技术研究院 北京控制工程研究所, 北京 100080；3. 河北科技师范学院 数学与系统科学研究所， 河北 秦皇岛 066004 |
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| 基金项目： | 国家自然科学基金重点资助项目（90405017）;河北科技师范学院博士基金资助项目（2006D003）;国家“973”重点基础研究发展计划资助项目（2002CB312205）. |
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| 摘 要： | 针对一类不确定多输入多输出（MIMO）非线性系统, 提出了一种新的鲁棒间接自适应模糊控制设计方案, 解决了提高模糊控制精度问题. 模糊逻辑系统用作逼近系统的未知函数, 根据跟踪误差给出了参数调节律, 用鲁棒控制项对未知的逼近误差进行补偿, 以此来减小逼近误差对跟踪精度的影响. 基于李亚普诺夫函数方法证明了所设计的控制方案不但能保证跟踪误差收敛到原点的小邻域内, 而且通过适当增大设计参数的值, 可使跟踪误差减小, 提高了控制精度.仿真结果表明了该方法的有效性.
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| 关 键 词： | MIMO非线性系统 模糊控制 自适应控制 稳定性 |
| 文章编号： | 1008-973X（2007）10-1620-05 |
| 修稿时间： | 2007-05-20 |
Fuzzy control with robust controller for MIMO nonlinear systems |
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| SUN Duo-qing,MA Xiao-ying,YU Bai-yin,LI Xia.Fuzzy control with robust controller for MIMO nonlinear systems[J].Journal of Zhejiang University(Engineering Science),2007,41(10):1620-1624. |
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| Authors: | SUN Duo-qing MA Xiao-ying YU Bai-yin LI Xia |
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| Affiliation: | 1. Department of Mathematics and Physics, Hebei Normal University of Science and Technology, Qinhuangdao 066004, China;2. Beijing Institute of Control Engineering, Chinese Academy of Space Technology, Beijing 100080, China; 3. Institute of Mathematics and Systems Science, Hebei Normal University of Science and Technology , Qinhuangdao 066004, China |
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| Abstract: | A novel indirect adaptive fuzzy robust control scheme was proposed for a class of uncertain multi-input and multi-output(MIMO) nonlinear systems to improve the fuzzy control accuracy.Fuzzy logic systems were used to approximate unknown nonlinear functions,and the parameter adjusting laws were derived by the tracking errors.The robust control term was used to compensate approximation errors,which reducing the effect on tracking accuracy caused by approximation errors.Based on Lyapunov function method,it was proved that the proposed scheme can not only make the tracking errors converge to the small neighborhood of the origin,but also reduce the tracking errors by increasing the value of designed parameters,and improve the control accuracy.The simulation demonstrates the effectiveness of the approach. |
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| Keywords: | nonlinear MIMO system fuzzy control adaptive control stability |
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