基于反馈线性化的多变量模糊迭代控制器设计  

Design of multivariable fuzzy iterative controller based on feedback linearization

作　　者：高宁波[1] 

机构地区：[1]中国石化广州分公司,广东广州510726

出　　处：《东北石油大学学报》2013年第3期117-122,130,共6页Journal of Northeast Petroleum University

基　　金：黑龙江省教育厅科学技术研究项目(12511002)

摘　　要：针对一类多变量非线性控制对象的轨迹跟踪问题,设计一种模糊迭代学习控制器,利用模糊控制器动态调节迭代学习律增益矩阵参数,通过反馈线性化算法和信息融合技术降低模糊控制器输入变量维数,实现多变量非线性系统轨迹跟踪控制.结果表明:与固定增益型迭代学习控制器相比,采用模糊迭代学习控制器学习速度提高,控制稳定性改善,两自由度机械臂的轨迹跟踪控制仿真结果也验证模糊迭代学习控制器的优越性.A fuzzy iterative learning controller designed to solve a class of multi-variable nonlinear control object trajectory tracking problem.Fuzzy controller dynamically adjusts the iterative learning gain matrix parameters.Feedback linearization algorithm and information fusion technology that reduces the fuzzy controller dimension,then the problem of multivariable nonlinear systems trajectory tracking control is resolved.Compared with the fixed-gain type iterative learning controller,fuzzy iterative learning controller significantly improves the learning speed and control stability.Simulation results of two-freedom manipulator trajectory tracking control fully verify the superiority of the controller.

关 键 词：非线性系统 迭代学习控制 多变量模糊控制 反馈线性化 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]