摘要
针对一类控制增益函数未知的、含有不确定项的非线性系统,为实现其跟踪控制目标,提出了一种鲁棒直接自适应模糊控制方法.该方法仅要求控制增益函数为有界函数,用广义模糊双曲正切模型逼近一个与控制增益函数无关的新颖的等价控制器,并为消除系统中的不确定项和逼近误差设计了一个双曲形式的鲁棒补偿控制项,从而保证了系统跟踪误差收敛到原点的一个小的邻域内,且所有的变量一致有界,控制输入平滑没有抖振.利用Lyapunov函数证明了该算法的有效性,并用倒立摆仿真实例进行了验证.
A robust direct self-adaptive fuzzy control scheme for a class of nonlinear system with uncertainty and unknown control gain function is proposed to achieve tracking control. In this scheme,only based on existence of control gain function bound,a novel certainty equivalent controller which is unconcerned of control gain function is approximated by a generalized fuzzy hyperbolic model （GFHM）.Furthermore,a robust compensation control term is constructed in the form of hyperbolic function to eliminate uncertainty of nonlinear system and the approximation error.Then,the overall control system guarantees that the tracking error converges in the small neighborhood of zero and that all signals involved are uniformly bounded,also a smooth control input with no chattering phenomena is developed.The effectiveness of the proposed control algorithm is proved by Lyapunov function and the simulation example of the inverted pendulum tracking control system.
出处
《大连理工大学学报》
EI
CAS
CSCD
北大核心
2014年第2期257-261,共5页
Journal of Dalian University of Technology
基金
国家自然科学基金资助项目(61074020)
关键词
模糊自适应控制
控制增益函数未知
广义模糊双曲正切模型
非线性系统
fuzzy self-adaptive control
unknown control gain function
generalized fuzzy hyperbolic model （GFHM）
nonlinear systems
作者简介
张明君（1966－）,女,博士,教授,E-mail：zmj_neu@163.com;
邵诚（1958－）,男,教授,博士生导师,E-mail：cshao@dlut.edu.cn
