非线性不确定系统的自适应模糊跟踪控制

针对一类带有未知非线性函数的非线性不确定系统,提出了一种新的自适应模糊跟踪控制方案。模糊逻辑系统用于系统中的未知的非线性函数建模,然后基于backstepping方法和自适应技术设计模糊自适应控制器。所设计的模糊自适应控制器确保闭环系统的所有信号是一致有界的,同时跟踪误差收敛到原点的一个充分小的邻域内。另外所设计的控制器不涉及模糊基向量函数,因此所提出的控制器用于控制系统时,将极大地降低系统的在线计算负担。仿真算例验证了所提出方法的有效性。

Adaptive Fuzzy Tracking Control of a Class of Nonlinear Uncertain Systems

This paper is concerned with the problem of adaptive fuzzy tracking for a class of nonlinear systems with the uncertainties.Fuzzy logic systems are used to approximate the unknown nonlinear functions,then the adaptive fuzzy tracking controller is designed by using the backstepping technique and Lyapunov functionals.The proposed adaptive fuzzy controller guarantees that all the signals in the closed-loop system are bounded and the system output eventually converges to a small neighborhood of the desired reference signal.An advantage of the proposed control scheme lies in that the design of fuzzy controller does not involve the fuzzy bases vector function.Therefore the proposed controller,when used to control system,will greatly reduce the system online calculation burden.Finally,one example is used to demonstrate the effectiveness of our results proposed in this paper.