一类纯反馈力学系统的自适应模糊动态面控制  

Adaptive fuzzy dynamic surface control for a class of pure-feedback mechanical systems

作　　者：刘金琨[1] 郭一[1] 

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100191

出　　处：《控制与决策》2013年第10期1591-1595,共5页Control and Decision

基　　金：高等学校博士学科点专项科研基金项目(20121102110008)

摘　　要：针对一类纯反馈形式的不稳定力学系统,提出自适应模糊动态面控制方法.在一般动态面控制的设计框架下,引入模糊系统逼近模型的未知函数,设计自适应律在线估计模糊系统权参数和模型未知参数,通过Lyapunov方法证明得出闭环系统半全局稳定.该策略避免了传统反演设计存在的"微分爆炸"现象,并且解决了纯反馈系统控制设计中通常存在的循环设计问题.仿真结果表明,控制系统能够克服不确定性,且能够简单有效地实现跟踪控制.An adaptive fuzzy dynamic surface controller is proposed for a class of unstable mechanical systems in pure- feedback form. Under the design framework of general dynamic surface control, fuzzy systems are applied to approximate the unknown nonlinearities of the model. Adaptive laws are designed to estimate the weight values of fuzzy systems and unknown parameters. From Lyapunov stability analysis, it is shown that the control strategy can guarantee the semi- global stability of the closed-loop system. This method eliminates the problem of ＂explosion of complexity＂ existing in the traditional backstepping approach and solves the circular design problem existing in pure-feedback control system design. Simulation results show that the control system can overcome the uncertainties and realize the tracking control effectively.

关 键 词：动态面控制 模糊系统 自适应控制 纯反馈系统 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]