板球系统的间接模糊自适应控制  

Fuzzy indirect adaptive control for ball and plate system

作　　者：韩京元[1,2] 田彦涛[1,3] 孔英秀[1] 赵博昊 李聪[1] 

机构地区：[1]吉林大学通信工程学院,长春130022 [2]理科大学控制科学学院,平壤526890 [3]吉林大学工程仿生教育部重点实验室,长春130022

出　　处：《控制与决策》2015年第2期303-310,共8页Control and Decision

基　　金：高等学校博士学科点专项基金项目(20060183006);国家自然科学基金项目(60974067);吉林大学"985工程"工程仿生科技创新平台项目(2008212)

摘　　要：针对具有强耦合、不确定摩擦力的多变量非线性板球系统,利用Lyapunov稳定理论,设计一种间接模糊自适应控制器.该控制器可以在确保系统变量在有限范围内变动的同时保持收敛性,并且在系统的增益矩阵不可逆时,使得板球系统稳定并跟踪误差收敛到零邻域内.控制器是由监督、间接模糊自适应和自适应补偿3种控制算法结合的.仿真实验表明,所提出的控制方法能够确保板球系统跟踪控制的稳定性和收敛性.For the ball and plate system where the strong coupling and the uncertainty of friction force are existed, an indirect adaptive control method is proposed by using the Lyapunov stability theory. The proposed system not only can ensure all variables in the system are bounded, and keep the convergence property of the tracking error of the ball and plate system, but also can ensure the stability and the tracking error of that are converged to a small neighborhood of the origin. The proposed indirect fuzzy controler consists of a supervisory control term, an indirect fuzzy control term, and an adaptive compensation control term. The simulation results show that the proposed approach guarantees the stability and control performance of the nonlinear multivariable ball and plate system trajectory tracking control.

关 键 词：板球系统 间接型模糊自适应 LYAPUNOV稳定性 轨迹跟踪控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]