一类非线性系统的鲁棒自适应模糊控制

对一类非线性系统，根据模糊自适应控制的设计思想，考虑逼近误差及外扰的影响，提出一种在控制器中增加一个鲁棒自适应控制项的设计方法，并利用Lyapunov理论证明了由此控制的闭环系统的跟踪误差可收敛到零的一个邻域内。采用该方法，无需事先知道逼近误差和外扰的界，从而提高了实际应用价值。

Robust Adaptive Fuzzy Control for a Class of Nonlinear Systems

Based on the design method of fuzzy adaptive control and considering the effect of approximation error and external disturbance on the tracking error, a fuzzy adaptive control scheme added with a robust adaptive control component is developed for a class of nonlinear systems. By Lyapnov's stability theory,the authors have proved that the tracking error of the closed loop system controlled by this controller can converge to a neighborhood of zero. Compared with References , the scheme in this paper does not require the knowledge of an upper bound on the disturbance and approximation error,and is therefore of greater practical value.