Indirect adaptive fuzzy control scheme based on observer for nonlinear systems: A novel SPR-filter approach
Indirect adaptive fuzzy control scheme based on observer for nonlinear systems: A novel SPR-filter approach
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DOI：
10.1016/j.neucom.2013.12.011
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发表时间：
2014-07
期刊：
影响因子：
6
通讯作者：
A. Boulkroune;N. Bounar;M. M'Saad;M. Farza
中科院分区：
文献类型：
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作者：
A. Boulkroune;N. Bounar;M. M'Saad;M. Farza
针对不确定非线性摄动系统，提出了一种基于观测器的模糊间接自适应控制器。为了解决状态变量不可用的问题，引入了跟踪误差观测器。采用自适应模糊系统逼近未知光滑非线性函数。为了满足观测误差动力学传递函数的SPR条件，设计了一个低通滤波器来增强控制系统。在Lyapunov稳定性分析中使用SPR条件，仅使用可用的测量值（即输出观测误差和输出跟踪误差）构建自适应律。本文的主要贡献在于：(a)本文采用的SPR-filter方法避免了模糊基函数的滤波。(b)与以前的工作不同，稳定性分析是通过使用基于spr的Lypunov方法严格证明的。最后给出了数值仿真结果，验证了所提控制器的可行性和有效性。
In this paper, a novel fuzzy indirect adaptive controller based on observer for uncertain nonlinear perturbed systems is proposed. A tracking-error observer is introduced to resolve the problem of the unavailability of state variables. Adaptive fuzzy systems are employed to approximate the unknown smooth nonlinear functions. The control system is augmented by a low-pass filter designed to meet a SPR condition of a transfer function of the observation error dynamics. The SPR condition is used in the Lyapunov stability analysis to construct the adaptation laws using only available measurements (i.e. the output observation error and the output tracking error). The main contributions of this paper lie in the following: (a) The SPR-filter approach used here avoids the filtering of the fuzzy basis functions. (b) Unlike in the previous works, the stability analysis is rigorously proven by using a SPR-based Lypunov approach. Finally, numerical simulation results are presented to verify the feasibility and effectiveness of the proposed controller.