基于超稳定理论的间接自适应模糊控制器  

An indirect adaptive fuzzy controller based on hyperstability theory

作　　者：王舰[1] 宋申民[1] 张福恩[1] 纪军红[2] 

机构地区：[1]哈尔滨工业大学航天学院,黑龙江哈尔滨150001 [2]哈尔滨工业大学机器人研究所,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2006年第2期238-242,247,共6页Journal of Harbin Engineering University

摘　　要：针对一类单输入单输出非线性不确定对象,利用Popov超稳定理论提出一种新的间接自适应模糊控制器设计方法,构造了参数可调的模糊控制器在线逼近理想控制器,推导出模糊控制器的参数自适应律,并对系统状态的有界性进行了分析.最后分别利用一阶非线性对象和Duffing强迫振荡对象对该方案进行了仿真,结果验证了方案对非线性对象具有良好的控制效果.该方法能够保证系统输出渐近收敛到给定的参考信号,并放宽了对最小逼近误差的限制,同时可获得更为灵活的参数调节形式.A new design scheme for an indirect adaptive fuzzy controller that is based on Popov＇s hyperstability theory was developed for a class of single-input single-output （SISO） uncertain nonlinear plants. A fuzzy controller with adjustable parameters was constructed to approximate the ideal controller, then the parameter adaptive law of fuzzy controller was deduced and the boundedness of the system state was analyzed. The proposed method was used for a first-order nonlinear system and a Dulling forced oscillation system. Simulation results show that the proposed scheme can provide high performance for nonlinear plants. The convergence of the system output to the given signal can be guaranteed and minimum approximation error can be relaxed. Furthermore, a flexible form of parameters adjustment is proposed.

关 键 词：自适应模糊控制器 超稳定 最小逼近误差 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]