一种自适应鲁棒跟踪模糊控制新算法

针对一类非线性不确定系统 ,在用T S模糊系统对未知聚拢不确定函数进行逼近的基础上 ,利用系统的耗散理论 ,系统地提出了一种自适应鲁棒跟踪模糊控制新算法。该算法基于一个新的Lyapunov函数 ,不仅可以使控制算法避免其它自适应控制算法中时常存在的奇异问题 ,而且还可以使自适应学习参数的数目减至最少 ,便于工程实现 ,并可确保闭环系统渐近稳定 ,系统的跟踪误差为零。经仿真研究表明 ,所提出的算法是有效的

A New Algorithm for Adaptive Robust Tracking Fuzzy Control

A new adaptive robust tracking fuzzy control algorithm is presented for a class of uncertain nonlinear systems using dissipation theoretical approach. The proposed algorithm is developed based on a novel Lyapunov function, and Takagi Sugeno fuzzy logic systems are used to approximate unknown bunching functions in the systems. With the algorithm, the possible controller singularity problem in some existing adaptive control schemes adopting feedback linearization techniques can be avoided and the adaptive mechanism with minimal learning parameter can be achieved by use of the small gain approach and dissipation theory. Performance and limitations of the proposed method are discussed and illustrated with simulation results.