| 基于模糊干扰观测器的抗饱和自适应反步控制 |
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| 引用本文： | 周丽,殷利平. 基于模糊干扰观测器的抗饱和自适应反步控制[J]. 南京信息工程大学学报, 2014, 0(5): 431-436 |
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| 作者姓名： | 周丽 殷利平 |
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| 作者单位： | 南京信息工程大学 信息与控制学院，南京，210044 |
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| 基金项目： | 国家自然科学基金(61104073，61104123)；江苏省政府留学奖学金 |
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| 摘 要： | 针对一类输入受限的非匹配不确定非线性系统,提出了一种抗饱和自适应反步控制方法.利用模糊干扰观测器在线逼近系统的未知非匹配不确定及干扰,采用反步控制方法设计自适应控制器.控制系统设计中引入限幅滤波器,有效降低了控制输入饱和对系统稳定性的影响,并且控制器设计无需对虚拟控制律进行重复求导.利用李亚普诺夫稳定性定理,证明了闭环系统渐近稳定.仿真结果表明了该方法的有效性.
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| 关 键 词： | 自适应控制 反步法 模糊干扰观测器 非线性系统 |
Constrained adaptive backstepping control based on fuzzy disturbance observer |
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| ZHOU Li,YIN Liping. Constrained adaptive backstepping control based on fuzzy disturbance observer[J]. Journal of Nanjing University of Information Science & Technology, 2014, 0(5): 431-436 |
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| Authors: | ZHOU Li YIN Liping |
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| Affiliation: | 1 School of Information and Control,Nanjing University of Information Science ＆ Technology,Nanjing 210044) |
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| Abstract: | In this paper,a constrained adaptive control approach is proposed for nonlinear system with unmatched uncertainties. Fuzzy disturbance observer is used to approximate the unknown and unmatched uncertainties online. The backstepping method is adopted to design the adaptive controller.The command filter is introduced into the con-trol system,which can effectively decrease the effect of the control input saturation on system stability.The controller design avoids the repeated derivation for the virtual control law.The closed-loop system is verified to be asymptotical with Lyapunov stability theorem.Simulation results show the effectiveness of the proposed method. |
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| Keywords: | adaptive control backstepping method fuzzy disturbance observer nonlinear system |
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