摘要
本文研究了一类具有死区非线性输入的不确定严格反馈系统的跟踪问题.首先,引入预设性能函数,使跟踪误差趋于平衡点附近的一个具有预设精度的范围内.同时,采用模糊逻辑系统对未知的非线性函数进行近似估计,并通过构造自适应更新律来调节模糊系统参数,从而使估计误差减小到最优程度.其次,为了达到控制目标,设计了一种自适应模糊控制器,提出了一种自适应模糊反步控制方法,该方法能够确保所有闭环信号的有界性,并且可以应用于具有死区非线性输入的控制系统.最后,给出仿真结果,并验证本文方法的有效性.
This paper studies the tracking problem of a class of uncertain strict-feedback systems with dead-zone nonlinear inputs,and proposes an adaptive fuzzy backstepping control method.Firstly,a prescribed-performance function is introduced to make the tracking error converge into a domain with preset accuracy near the equilibrium point.Meanwhile,fuzzy logic systems are employed to approximate the unknown nonlinear functions,and adaptive updating laws are constructed to adjust the fuzzy dynamic parameters,thereby reducing the estimation error to the optimal level.Secondly,in order to achieve the control goal,an adaptive fuzzy controller is designed,and an adaptive fuzzy backstepping control method is proposed.The presented method can ensure the boundedness of all close-loop signals,and it can be applied to control systems with dead-zone nonlinear inputs.Finally,the simulation results are given to show the effectiveness of the proposed method.
作者
薛广明
林福宁
李生刚
靳佳欣
XUE Guang-ming;LIN Fu-ning;LI Sheng-gang;JIN Jia-xin(College of Artificial Intelligence,Nanning University,Nanning 530200,China;School of Mathematics and Statistics,Shaanxi Normal University,Xian 710119,China)
出处
《模糊系统与数学》
北大核心
2025年第2期101-111,共11页
Fuzzy Systems and Mathematics
基金
广西自然科学基金资助项目(项目编号:2023GXNSFAA026174)
国家自然科学基金资助项目(项目编号:12361092,12461088)
陕西省博士后科研基金资助项目(项目编号:2023BSHEDZZ191)
陕西省自然科学基础研究计划资助项目(项目编号:2023-JC-QN-0008)
南宁学院科研平台(KYPT202401)。
关键词
预设性能
模糊逼近
死区输入
反步控制
Prescribed Performance
Fuzzy Approximation
Dead-zone Input
Backstepping Contro
