基于后推设计的直接自适应模糊控制  

Direct adaptive fuzzy control based on backstepping technique

作　　者：张天平[1] 张惠艳[1] 顾海军[1] 

机构地区：[1]扬州大学信息工程学院,江苏扬州225009

出　　处：《控制与决策》2004年第1期22-26,共5页Control and Decision

基　　金：国家自然科学基金资助项目(60074013;69934010);扬州大学信息科学学科群基金项目(ISG030606).

摘　　要：针对一类严格反馈不确定非线性动态系统,提出一种直接鲁棒自适应模糊控制新方案.利用模糊系统的逼近能力、后推设计方法和积分型李亚普诺夫函数,依次确定各虚拟控制及模糊系统中可调参数的自适应律,并最终确定出控制律.为改善控制系统的性能,引入逼近误差的自适应补偿项.通过李亚普诺夫方法,证明了闭环系统是一致终结有界的.仿真结果表明了该方法的有效性.A novel scheme of direct robust adaptive fuzzy control for a class of strict-feedback uncertain nonlinear systems is proposed. By utilizing the approximation capability of fuzzy systems, backstepping technique and Lyapunov function of integral type, each virtual control and the adaptation law of the adjustable parameters in the fuzzy systems are determined in turn. Finally, the control law is determined. The adaptive compensation term of the approximation error is introduced to improve the control performance of the closed-loop system. By Lyapunov method, the closed-loop control system is shown to be uniformly ultimately bounded. Simulation results illustrate the effectiveness of the proposed approach.

关 键 词：严格反馈非线性系统 后推设计 模糊控制 自适应控制 李亚普诺夫稳定性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] O231.2[自动化与计算机技术—控制科学与工程]