基于分层模糊系统的直接自适应控制

为解决模糊控制器中规则数目随系统变量呈指数增长的问题，利用分层模糊系统设计了一类非线性系统的直接自适应模糊控制器，并证明了所提出的设计方法不但能保证闭环系统的一致有界性。而且可使跟踪误差收敛到原点的小领域内，通过对倒立摆控制的仿真研究验证了该方法的有效性。

Direct adaptive control based on hierarchical fuzzy systems

Inordertosovletheproblemthatthenumberofrulesinafuzzy controller increases exponentially with the number of variables involved, a direct adaptive fuzzy control scheme for a class of nonlinear systems is proposed based on hierarchical fuzzy systems. It is proved that the proposed scheme not only guarantees the uniformly ultimate boundedness of the closed loop system, but also makes the tracking error converge to the origin or its small neighbourhood. The simulation research on controlling an inverted pendulum verifies the efficiency of the hierarchical adaptive fuzzy controller.