基于指令滤波的直接自适应模糊控制  

Command Filter Based Direct Adaptive Fuzzy Control

作　　者：田艳兵 魏巍 孙国法 TIAN Yan-bing;WEI Wei;SUN Guo-fa(School of Information and Control Engineering,Qingdao University of Technology,Qingdao 266520,China)

机构地区：[1]青岛理工大学信息与控制工程学院,山东青岛266520

出　　处：《控制工程》2020年第8期1387-1393,共7页Control Engineering of China

基　　金：国家自然科学基金项目(61640302,61703224,21606141)。

摘　　要：针对严格反馈型不确定非线性系统,提出一种基于指令滤波的直接自适应模糊控制方案。系统的未知非线性函数由模糊系统在线逼近,采用直接自适应模糊控制器,无需在线辨识控制对象的模型。通过设计指令滤波器对指令信号直接求微分,避免了对虚拟信号的反复求导。从而降低了控制器的复杂性,提高系统的控制性能。稳定性分析保证了闭环系统的所有信号都是有界的。仿真算例进一步验证了所提出设计方案的有效性。Command filter based direct adaptive fuzzy control scheme is proposed for the uncertain nonlinear systems with strict feedback control.Fuzzy logic systems are used to approximate the unknown and nonlinear functions.The direct adaptive fuzzy controller does not need to identify the model of the control object online.The designed command filter directly differentiates the command signal,which avoids the repeated derivation of the virtual signal and reduces the complexity of the controller.The control performance of the system is improved.It is shown that the proposed control scheme can ensure that all the signals in the closed-loop system are bounded.The simulation examples are presented to illustrate the effectiveness of the proposed method.

关 键 词：直接自适应模糊控制 反步法 非线性指令滤波器 模糊逻辑系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]