Robust Adaptive Tracking Control for Nonlinear Systems Based on Bounds of Fuzzy Approximation Parameters
Robust Adaptive Tracking Control for Nonlinear Systems Based on Bounds of Fuzzy Approximation Parameters
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DOI：
10.1109/tsmca.2009.2030164
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
Yanjun Liu;Wei Wang;Shaocheng Tong;Yisha Liu
中科院分区：
文献类型：
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作者：
Yanjun Liu;Wei Wang;Shaocheng Tong;Yisha Liu
针对一类具有建模不确定性和外部干扰的多输入多输出（MIMO）非线性系统，利用模糊逻辑系统的逼近特性和反推技术，提出了一种鲁棒自适应模糊控制方法。MIMO系统是由严格反馈形式的子系统组成的。该方法的主要特点是减轻了在线计算负担，提高了对动态不确定性和外部干扰的鲁棒性。证明了所得到的闭环系统的所有信号是一致有界的，并且跟踪误差收敛到零附近的一个小邻域。两个仿真实验证明了本文所提出的方法的可行性。
A robust adaptive fuzzy control approach is developed for a class of multi-input-multi-output (MIMO) nonlinear systems with modeling uncertainties and external disturbances by using both the approximation property of the fuzzy logic systems and the backstepping technique. The MIMO systems are composed of interconnected subsystems in the strict-feedback form. The main characteristics of the developed approach are that the online computation burden is alleviated and the robustness to dynamic uncertainties and external disturbances is improved. It is proven that all the signals of the resulting closed-loop system are uniformly bounded and that the tracking errors converge to a small neighborhood around zero. Two simulation experiments are presented to demonstrate the feasibility of the approach developed in this paper.