非线性纯反馈时滞系统的自适应模糊跟踪控制  

Adaptive Fuzzy Tracking Control for Uncertain Nonlinear Pure-Feedback Systems with Time-Varying Delays

作　　者：楚敬敬 丛文[1] 张友琴[1] 陈兵[1] 

机构地区：[1]青岛大学复杂性科学研究所,山东青岛266071

出　　处：《青岛大学学报（工程技术版）》2013年第4期29-38,共10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：针对一类不确定非线性纯反馈时滞系统的自适应模糊跟踪控制问题,本文采用模糊逻辑系统来逼近系统中未知的非线性函数,利用自适应方法和Backstepping方法构造出一种自适应模糊控制器,并给出了非线性纯反馈时滞系统跟踪控制问题可解的充分条件。仿真结果表明,所设计的自适应模糊控制器,保证闭环系统的所有变量有界,并确保系统输出有效跟踪给定的参考信号,跟踪误差收敛到原点的一个充分小的邻域之内,同时其他闭环信号保持有界。该控制方法可以有效地减少系统在线计算负担。This paper addresses the problem of adaptive fuzzy control for a class of uncertain nonlinear pure-feedback systems with time delays. Fuzzy logic systems are used to approximate the unknown nonlin- ear functions, and then adaptive technique and back stepping method are utilized to construct adaptive fuzz- y controller. In addition, the work in the paper provides a new sufficient condition for the tracking control of nonlinear pure-feedback systems with time delays. Simulation results show that the proposed adaptive controller guarantees that all the variables in the closed-loop system are bounded while the system＇s output follows the given reference signal well. The proposed controller will reduce the system online calculation burden.

关 键 词：自适应控制 模糊跟踪控制 非线性纯反馈时滞系统 BACKSTEPPING 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]