动态不确定非线性系统直接自适应模糊backstepping控制  

Direct adaptive fuzzy backstepping control of nonlinear systems with dynamic uncertainties

作　　者：贺向雷[1] 佟绍成[1] 

机构地区：[1]辽宁工业大学数理系,辽宁锦州121001

出　　处：《控制理论与应用》2009年第10期1081-1086,共6页Control Theory & Applications

基　　金：国家自然科学基金资助项目(60674056);辽宁省优秀人才基金资助项目(2005219001);辽宁省教育厅优秀人才基金资助项目(2006R29);辽宁省教育厅项目(2007T80)

摘　　要：对一类单输入单输出动态不确定非线性系统,提出一种直接自适应模糊backstepping和小增益相结合的控制方法.设计中,首先用模糊逻辑系统逼近虚拟控制器;其次把自适应模糊控制和backstepping控制设计技术相结合,给出了直接自适应模糊控制设计方法.最后基于Lyapunov函数和小增益方法证明了整个闭环系统的稳定性.仿真实例进一步验证了所提方法的有效性.A direct adaptive fuzzy backstepping control approach and a small-gain theorem are proposed for the singleinput/single-output（SISO） nonlinear system with dynamic uncertainties. In this design, fuzzy logic systems are first employed to approximate the virtual controllers, and then, a direct adaptive fuzzy control approach is developed by combining the adaptive fuzzy control with the backstepping control design technique. Finally, we prove the stability of the closedloop system by using Lyapunov function and the small-gain theorem. Simulation studies are included to illustrate the effectiveness of the proposed approach.

关 键 词：非线性系统 动态不确定 自适应模糊控制 BACKSTEPPING设计 小增益定理 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]