具有未知死区的SISO非仿射非线性系统间接自适应模糊控制

为了解决含有未知死区输入特性的SISO非仿射非线性系统的跟踪控制问题,提出了基于模糊自适应方法的控制器设计方案,把未知死区分解为一个线性项和一个扰动类似项,当系统状态可测时,利用模糊逻辑系统设计间接自适应模糊控制器,并结合跟踪误差信息设计自适应律;系统状态不可测时,通过引入误差观测器估计的状态变量,设计了间接自适应模糊输出反馈控制器．理论论证过程说明两种控制器能使系统的跟踪误差最终收敛到零的某一邻域,且闭环系统所有信号均有界. 仿真实验结果表明利用所设计控制方案可以使系统完成跟踪控制任务．

Indirect adaptive fuzzy control for SISO nonaffine nonlinear system with unknown dead-zone input

To cope with the controller design problem that the control input of single-input single-output (SISO) nonaffine nonlinear system is with an unknown dead-zone character, a controller design strategy based on fuzzy adaptive technique is proposed. Within this scheme, the unknown dead-zone is treated as a combination of a linear and a bounded disturbance-like term. For the case that the system states are measurable, an indirect adaptive fuzzy controller is constructed by using fuzzy logic systems and adaptive laws are given out according to the information of tracking error. On basis of the above controller design method, another indirect adaptive fuzzy output-feedback controller for immeasurable system states is designed based on the estimated states which are generated by an error observer. The theoretic prove process indicates that the two controllers can guarantee that the tracking errors converge to a small neighbourhood of the origin and all signals in closed-loop system are bounded. Simulation results demonstrate that the constructed controllers can make the system achieve the tracking control objective.