Adaptive Fuzzy H∞ Robust Tracking Control for Nonlinear MIMO Systems
Adaptive Fuzzy H∞ Robust Tracking Control for Nonlinear MIMO Systems
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DOI：
10.1515/cait-2015-0004
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发表时间：
2015-03
影响因子：
1.2
通讯作者：
Sanxiu Wang;Kexin Xing;Zhengchu Wang
中科院分区：
文献类型：
--
作者：
Sanxiu Wang;Kexin Xing;Zhengchu Wang
针对一类不确定非线性多输入多输出系统，提出了一种自适应模糊H∞鲁棒跟踪控制方案。首先，引入模糊逻辑系统，通过自适应算法逼近系统的未知非线性函数。其次，采用H-∞鲁棒补偿控制器来消除逼近误差和外部干扰的影响。因此，提出了一种模糊自适应鲁棒控制器，使得闭环系统的跟踪误差收敛到零，并能保证跟踪的鲁棒性。在两连杆机械臂上的仿真结果验证了所提控制方案的有效性。
Abstract In this paper an adaptive fuzzy H∞ robust tracking control scheme is developed for a class of uncertain nonlinear Multi-Input and Multi-Output (MIMO) systems. Firstly, fuzzy logic systems are introduced to approximate the unknown nonlinear function of the system by an adaptive algorithm. Next, a H∞ robust compensator controller is employed to eliminate the effect of the approximation error and external disturbances. Consequently, a fuzzy adaptive robust controller is proposed, such that the tracking error of the resulting closed-loop system converges to zero and the tracking robustness performance can be guaranteed. The simulation results performed on a two-link robotic manipulator demonstrate the validity of the proposed control scheme.