基于特征模型的柔性结构直接自适应模糊预测控制

为了避免用模态截断方法设计控制器时所引起的控制和观测溢出问题,把柔性结构模型转化为用含有未知系数的二阶差分方程描述的特征模型,对此模型提出了当柔性结构实现位置保持时的直接自适应模糊预测控制方法.此方法直接利用模糊逻辑系统设计预测控制器,并基于广义误差估计值对控制器参数和广义误差估计值中的未知向量进行自适应调整.文中证明了所设计的控制器可使广义误差估计值收敛到原点的一个小邻域内.仿真结果验证了此方法的有效性.

Direct adaptive fuzzy predictive control of flexible structure based on characteristiC model

To avoid the overflow of the control and observation caused by using mode truncation to design controller,the flexible structure model is transformed into the characteristic model described by a second-order difference equation with unknown coefficients,then a direct adaptive fuzzy predictive control method is presented for the flexible structure position holding.In this method,a fuzzy logic system is used to design predictive controller directly,both the controller parameters and the unknown vectors in the estimation of generalized error are adjusted adaptively.It is proved that the designed controller can make the estimation of generalized error converge to a small neighborhood of the origin.Simulation results demonstrate the effectiveness of this method.