Adaptive fuzzy system-based variable-structure controller for multivariable nonaffine nonlinear uncertain systems subject to actuator nonlinearities
Adaptive fuzzy system-based variable-structure controller for multivariable nonaffine nonlinear uncertain systems subject to actuator nonlinearities
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DOI：
10.1007/s00521-016-2241-8
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发表时间：
2016-03
影响因子：
6
通讯作者：
A. Boulkroune;M. M'Saad;M. Farza
中科院分区：
文献类型：
--
作者：
A. Boulkroune;M. M'Saad;M. Farza
本文针对一类受动态非线性扰动和执行器非线性（死区和扇区非线性）影响的多变量非仿射不确定系统，提出了一种新颖的自适应模糊变结构控制方法。通过使用泰勒级数展开，首先推导了非仿射系统的仿射形式的等效模型。然后，基于该仿射等效模型设计了自适应模糊变结构控制器。自适应模糊系统用于适当地逼近未知的非线性函数。在控制器设计和稳定性分析中采用了所谓的控制增益矩阵的 SDU 分解。证明所提出的自适应模糊控制方案能够保证闭环系统中所有涉及的信号半全局一致最终有界，并且跟踪误差收敛到原点的一个小邻域内。最后，仿真结果说明了该自适应控制系统的有效性。
In this paper, a novel adaptive fuzzy variable-structure control approach is proposed for a class of multivariable nonaffine uncertain systems subject to dynamic nonlinear disturbances and actuator nonlinearities (dead zone and sector nonlinearities). By using the Taylor series expansion, an equivalent model in affine-like form is first derived for the nonaffine system. Then after, an adaptive fuzzy variable-structure controller is designed based on this affine-like equivalent model. The adaptive fuzzy systems are used to appropriately approximate the unknown nonlinear functions. The so-called SDU decomposition of the control gain matrix is exploited in the controller design and the stability analysis. It is proved that the proposed adaptive fuzzy control scheme can guarantee that all involved signals in the closed-loop system are semi-globally uniformly ultimately bounded, and the tracking error converges to a small neighborhood of the origin. Finally, simulation results are presented to illustrate the effectiveness of this adaptive control system.