直接鲁棒自适应模糊控制

针对一类不确定非线性系统 ,基于监督控制方案并利用第二类模糊系统的逼近能力 ,提出了一种直接鲁棒自适应模糊控制器设计的新方案。该方案通过引入最优逼近误差的自适应补偿项来消除建模误差的影响 ,从而在稳定性分析中取消了要求逼近误差平方可积或逼近误差的上确界已知的条件。理论分析证明了闭环控制系统是全局稳定的 ,跟踪误差收敛到零。仿真结果表明了该方法的有效性。

Direct Robust Adaptive Fuzzy Control

A new design scheme of direct robust adaptive fuzzy controller for a class of uncertain nonlinear systems is proposed in this paper. The design is based on the supervisory control strategy and the approximation capability of the second class fuzzy systems. The adaptive compensation term of the optimal approximation error is adopted. The approach does not require the optimal approximation error to be square integrable or the supremum of the optimal approximation error to be known. By theoretical analysis, the closed loop fuzzy control system is proved to be globally stable, with tracking error converging to zero. Simulation results demonstrate the effectiveness of the approach.