一类非仿射非线性系统混合自适应模糊控制  

Hybrid adaptive fuzzy control for a class of nonaffine nonlinear system

作　　者：吴勃[1] 宋建力[2] 

机构地区：[1]哈尔滨理工大学自动化学院,黑龙江哈尔滨150080 [2]天津航海仪器研究所,天津300131

出　　处：《电机与控制学报》2013年第5期98-102,109,共6页Electric Machines and Control

基　　金：黑龙江省自然科学基金(F0320)

摘　　要：针对一类单输入单输出非仿射非线性系统控制方向未知情况下的控制器设计问题,提出一种混合自适应模糊控制器设计方案。该方案利用泰勒级数将非仿射系统转换为仿射系统,通过模糊逻辑系统逼近该仿射系统中的未知函数,基于此构造模糊控制器,同时利用跟踪误差和模型预测误差设计参数自适应律。利用Lyapunov稳定性定理证明运用所设计的控制器可以保证系统跟踪误差收敛,同时证明了该方案相比已有方案系统跟踪误差具有更快的收敛速度。仿真结果验证了所提控制器设计方案的有效性。Aiming at the controller design problem when the control direction of the single-input single- output （SISO） nonaffine nonlinear system is unknown, a hybrid adaptive fuzzy controller designing scheme is proposed. Within this scheme, the nonaffine system was firstly translated into an affine system by using Taylor expansion, and then fuzzy logic system was utilized to approximate the unknown nonlinear functions in the translated affine system. On the basis of the abovementioned work, fuzzy controller was constructed. Based on both tracking error and predication error, the parameters adaptive law was designed. Using Lyapunov stability theorem, it was demonstrated that using the proposed controller can guarantee the convergence of the tracking error. Compared with the forgone controller, it proved that the system tracking error had a fast convergence speed with the developed scheme. Finally, the simulation results demonstrate the validity of the proposed controller.

关 键 词：非仿射非线性系统 控制方向 模糊控制器 跟踪误差 模型预测误差 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]