基于几乎干扰解耦的非线性系统自适应模糊输出反馈控制

研究了一类基于几乎干扰解耦的MIMO非线性不确定系统的输出反馈控制问题.研究的非线性系统具有嵌入式下三角结构,比严格反馈形式的非线性系统更具一般性,非线性系统的状态部分不可测.通过综合应用模糊逻辑系统和命令滤波反推控制技术,构建自适应模糊输出反馈控制器,命令滤波技术的引入消除了传统反推控制方法运算中存在的计算膨胀,设计的控制器不仅保证整个闭环系统的稳定性,而且在L2增益的意义上抑制了干扰对输出的影响.仿真结果表明了该方法的有效性.

Adaptive fuzzy output feedback control with almost disturbance decoupling for nonlinear systems

The problem of output feedback control with almost disturbance decoupling is investigated for a class of MIMO nonlinear uncertain systems, in which the states are unavailable for feedback. A structure, called nested lower triangular form, is introduced, which is much more general than strict feedback form. In the framework of combining fuzzy logic systems with the command filtered backstepping, fuzzy adaptive output feedback control design is proposed, and the command filters introduced can overcome the problem of explosion of complexity inherent in the traditional backstepping design methods. The proposed controller can not only achieve internal stability of the closed-loop system, but also diminish the effect of the disturbance on output in the sense of L 2 gain. Subsequently, simulation results show the effectiveness of the proposed approach.