基于模糊干扰观测器的轨迹线性化控制研究

针对一类非线性不确定系统,基于轨迹线性化控制(TLC)方法及模糊干扰观测器(FDO)技术研究了一种新的非线性控制结构。利用模糊系统具有以任意精度逼近非线性函数的能力设计FDO对未知干扰和不确定进行估计,并通过鲁棒控制项来提高系统的性能。采用Lyapunov方法,证明了跟踪误差和干扰观测误差一致最终有界。最后利用提出的控制方案针对数值算例进行了仿真验证,仿真结果表明了控制方案的有效性和鲁棒性。

Research on trajectory linearization control based on fuzzy disturbance observer

A new control structure based on trajectory linearization control(TLC) method and fuzzy disturbance observer(FDO) technique for a class of nonlinear uncertain system is proposed.Thanks to the approach ability of fuzzy system,a FDO is used to estimate the unknown disturbances and uncertainties,and the whole system performance is enhanced by a robustifying item.The overall system guarantees that the tracking error and the disturbance observation error are uniform ultimate boundedness using Lyapunov theory.Finally,a numerical example is studied based on the proposed method.Simulation results demonstrate the effectiveness and robustness of the method.