一种鲁棒补偿的直接自适应模糊控制算法  

Direct Adaptive Fuzzy Control Algorithm with Robust Compensation

作　　者：张明君[1,2] 邵诚[1] 李世宽 

机构地区：[1]大连理工大学信息科学与工程学院,辽宁大连116023 [2]大连理工大学城市学院,辽宁大连116023 [3]大连大显集团有限公司,辽宁大连116620

出　　处：《控制工程》2015年第1期55-59,共5页Control Engineering of China

基　　金：国家自然科学基金项目(61074020)

摘　　要：针对一类含有不确定项的非线性系统,提出了一种鲁棒直接自适应模糊控制算法,可在系统的控制增益已知、部分已知和未知三种情况下,实现系统跟踪有界参考信号的控制目标。该算法采用广义模糊双曲正切模型逼近系统的等价控制项,广义模糊双曲正切模型具有模糊规则个数少,更易于用语言描述获取的特点,在实际应用中更易实现。同时,引入鲁棒补偿项消除系统的不确定项和逼近误差,放宽系统稳定条件为最小近似误差有界。利用Lyapunov函数证明了采用上述控制策略保证了控制系统跟踪误差收敛到原点的一个小的邻域内,且所有的变量一致有界。仿真例子说明了该算法的有效性。For a class of nonlinear systems with uncertainty, a robust direct adaptive fuzzy control scheme is proposed to achieve tracking reference signal on conditions that the control gain of the system is known/known partly/unknown. In this scheme, the certainty equivalent control term is approximated by a fuzzy model, which is called the generalized fuzzy hyperbolic model （GFHM）. Because it is easier to describe and access, with a lower number of fuzzy rules, GFHM is achieved easily in engineering practice. Further, a robust compensation term is introduced to compensate the approximation error and uncertainty. The system stability condition is relaxed to the existence of bounds of minimum approximation error. Through Lyapunov function it is proven that the overall control system guarantees that the tracking error converges in the small neighborhood of zero and that all signals involved are uniformly bound. An example of the simulation is provided to demonstrate the effect of the proposed control algorithm.

关 键 词：模糊控制 非线性系统 广义模糊双曲正切模型 自适应控制 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]