PD型模糊学习控制及其在可重复轨迹跟踪问题中的应用(英文)  

A PD Type Fuzzy Logic Learning Control Approach for Repeatable Tracking Control Tasks

作　　者：许建新[1] 徐静[1] 曹文军[1] 

机构地区：[1]新加坡国立大学电气及计算机工程系

出　　处：《自动化学报》2001年第4期434-446,共13页Acta Automatica Sinica

摘　　要：针对可重复轨迹跟踪问题，提出了一种ＰＤ型模糊学习算法．该算法集成两种控制：作为基础的ＰＤ型模糊逻辑算法和改善系统性能的学习算法．模糊学习控制在模糊控制基础上引入迭代学习算法，使得模糊ＰＤ控制器可以精确地跟踪可重复轨迹以及消除周期性扰动．本文在能量函数和泛函分析的基础上，通过严格的推导表明ＰＤ型模糊学习算法可达到：１）系统跟踪误差一致收敛到零；２）学习控制序列几乎处处收敛到理想的控制信号．In this paper, we consider repeatable tracking control tasks using a new control approach-PD type Fuzzy Logic Learning Control (FLLC). FLLC integrates two main control strategies: Fuzzy Logic Control as the basic control part and Learning Con- trol as the refinement part. The new FLLC is constructed by simply adding an iterative learning mechanism to a fuzzy PD controller. The incorporation of the,learning function into fuzzy PD controllers ensures exact tracking because it completely nullifies the effects of reference signal and periodic disturbances on the tracking error. Through rigorous proof based on energy function and functional analysis, we show that the proposed FLLC system achieves the following novel properties: (1) the tracking error sequence converges uniformly to zero; (2) learning control sequence converges to the desired control profile almost everywhere. Simulation is presented to show the validity of the proposed control method.

关 键 词：模糊逻辑控制 学习控制 PD控制 可重复轨迹跟踪 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]