增益符号未知的鲁棒自适应模糊控制

针对一类具有函数控制增益符号未知的不确定非线性系统,根据滑模控制原理和模糊系统的逼近能力,提出了一种自适应模糊控制器设计新方案。该方案利用Nussbaum函数的性质,取消了常用的函数控制增益符号已知这一条件。并通过引入最优逼近误差的自适应补偿项来消除建模误差和参数估计误差的影响。理论分析证明了闭环系统的有界性和跟踪误差收敛到零。仿真结果表明了该方法的有效性。

Robust adaptive fuzzy control with unknown control gain sign

A design scheme of adaptive fuzzy controller for a class of uncertain nonlinear systems with unknown control gain sign is proposed based on the principle of sliding mode control and the approximation capability of fuzzy systems. The approach eliminates the need for a priori knowledge of the function control gain sign to be known by use of the property of Nussbaum function. The adaptive compensation term of the optimal approximation error is adopted to minimize the influence of the modeling error and the parameter estimation error. By theoretical analysis,the closed-loop control system is proved to be stable in the sense that all signals involved are bounded and the tracking error converges to zero. Simulation results demonstrate the effectiveness of the approach.