含齿隙离散时间系统的模糊自适应控制  

Adaptive fuzzy control for discrete time systems with backlash

作　　者：孙国法 张国巨 赵尔全 SUN Guofa;ZHANG Guoju;ZHAO Erquan(School of Information and Control Engineering, Qingdao University of Technology, Qingdao 266525, China)

机构地区：[1]青岛理工大学信息与控制工程学院,青岛266525

出　　处：《青岛理工大学学报》2021年第5期55-61,共7页Journal of Qingdao University of Technology

基　　金：国家自然科学基金资助项目(61703224,61640302)。

摘　　要：为解决离散时间非线性系统的输入端含齿隙问题,提出了一种基于精准扰动观测器的自适应模糊控制策略。给出了含输入端齿隙的离散时间系统,采用线性项、类扰动项的线性组合对模糊齿隙模型进行消模糊逼近;基于扰动观测器提出了自适应模糊控制策略,证明了系统的闭环控制稳定性,与线性控制进行了仿真比较,佐证了该方案的控制精度与鲁棒性。To solve the backlash problem of discrete time nonlinear systems,an adaptive fuzzy control strategy based on precise disturbance observer was proposed.A discrete time system with input backlash is presented,and the fuzzy backlash model is approximated by the linear combination of linear term and perturbation-like term.Based on the disturbance observer,the adaptive fuzzy control strategy is proposed,and the closed-loop control stability of the system is proved.The simulation results are compared with the linear control,and the control precision and robustness of the proposed scheme are verified.

关 键 词：齿隙非线性 离散时间系统 扰动观测器 自适应模糊控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]