非线性时滞系统的自适应模糊跟踪控制  

Adaptive Fuzzy Tracking Control of a Class of Nonlinear Uncertain Systems

作　　者：张月[1] 陈兵[1] 薛红[1] 

机构地区：[1]青岛大学自动化工程学院复杂性科学研究所,山东青岛266071

出　　处：《青岛大学学报（工程技术版）》2011年第3期19-26,65,共9页Journal of Qingdao University(Engineering & Technology Edition)

基　　金：国家自然科学基金资助项目(61074008)

摘　　要：针对一类带有未知非线性函数和时滞项的非线性不确定系统,提出了一种新的自适应模糊跟踪控制。用模糊逻辑系统来逼近系统中未知的非线性不确定函数,基于自适应方法和Backstepping设计模糊自适应控制器。设计的模糊自适应控制器确保了闭环系统的所有信号是一致有界的,也保证了跟踪误差收敛到原点的一个充分小的邻域内;另外设计的模糊跟踪控制器不涉及模糊基向量函数的计算,使其在系统的控制过程中将极大地降低系统的在线计算负担。仿真算例验证了所提出方法的有效性。This paper is concerned with the problem of adaptive fuzzy tracking for a class of nonlinear systems with the uncertainties and time delay.Fuzzy logic systems are used to approximate the unknown nonlinear functions,and then the adaptive fuzzy tracking controller is designed by using the Backstepping technique and Lyapunov functionals.The proposed adaptive fuzzy controller guarantees that all the signals in the closed-loop system are bounded and the system output eventually converges to a small neighborhood of the desired reference signal.An advantage of the proposed control scheme lies in that the design of fuzzy controller does not involve the Fuzzy bases vector function.Therefore the proposed controller,used to control system,will greatly reduce the system online calculation burden.Finally,one example is used to demonstrate the effectiveness of our results proposed in this paper.

关 键 词：非线性不确定时滞系统 BACKSTEPPING方法 模糊跟踪控制 稳定性 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]