摘要
针对一类MIMO非线性状态不可测系统,提出一种基于观测器的自适应模糊控制方法。该方法应用"主导输入"的概念,同时考虑了函数逼近误差和系统外扰的存在,假设了该系统逼近误差和系统外扰有界但界未知的情况;并探讨了自适应模糊控制器的参数自适应律由跟踪误差和逼近误差共同进行调节。基于李亚普诺夫函数证明了闭环系统的所有信号是有界的,并且跟踪误差收敛到零。仿真结果表明了该方法的有效性。
The adaptive fuzzy control scheme based on the observer is proposed for a class ofMIMO unobservable nonlinear systems. By applying the concept of ＂dominant input＂, the existence of both the approximation error and external disturbance which are supposed to have unknown boundaries is considered. What＇s more, the adaptive law utilizes two types of errors in the adaptive fuzzy systems, the tracking error and approximation error. It is shown that all signals in the closed-loop system are bounded and tracking error converges to zero. Simulation results demonstrate the effectiveness of the approach.
出处
《燕山大学学报》
CAS
2009年第5期464-470,共7页
Journal of Yanshan University
