Ho H F, Wong Y K, Rad A B
The Hong Kong Polytechnic University, Department of Electrical Engineering, Hung Hom, Kowloon, Hong Kong.
ISA Trans. 2008 Jul;47(3):286-99. doi: 10.1016/j.isatra.2008.03.002. Epub 2008 May 14.
Adaptive fuzzy control is proposed for a class of affine nonlinear systems in strict-feedback form with unknown nonlinearities. The unknown nonlinearities include two types of nonlinear functions: one satisfies the "triangularity condition" and can be directly approximated by fuzzy logic system, while the other is assumed to be partially known and consists of parametric uncertainties. Takagi-Sugeno type fuzzy approximators are used to approximate unknown system nonlinearities and the design procedure is a combination of adaptive backstepping and generalized small gain design techniques. It is proved that the proposed adaptive control scheme can guarantee the uniformly ultimately bounded (UBB) stability of the closed-loop systems. Simulation studies are shown to illustrate the effectiveness of the proposed approach.
针对一类具有未知非线性的严格反馈形式仿射非线性系统,提出了自适应模糊控制方法。未知非线性包括两种类型的非线性函数:一种满足“三角条件”,可由模糊逻辑系统直接逼近,而另一种假定为部分已知,且包含参数不确定性。采用Takagi-Sugeno型模糊逼近器对未知系统非线性进行逼近,设计过程是自适应反步设计和广义小增益设计技术的结合。证明了所提出的自适应控制方案能够保证闭环系统的一致最终有界(UBB)稳定性。仿真研究表明了该方法的有效性。