Shi Wuxi, Luo Rui, Li Baoquan
School of Electrical Engineering and Automation, Tianjin Polytechnic University, Tianjin, 300387, China; Tianjin Key Laboratory of Advanced Technology of Electrical Engineering and Energy, Tianjin, 300387, China.
ISA Trans. 2017 Jan;66:86-95. doi: 10.1016/j.isatra.2016.08.021. Epub 2016 Sep 15.
In this study, an adaptive fuzzy prescribed performance control approach is developed for a class of uncertain multi-input and multi-output (MIMO) nonlinear systems with unknown control direction and unknown dead-zone inputs. The properties of symmetric matrix are exploited to design adaptive fuzzy prescribed performance controller, and a Nussbaum-type function is incorporated in the controller to estimate the unknown control direction. This method has two prominent advantages: it does not require the priori knowledge of control direction and only three parameters need to be updated on-line for this MIMO systems. It is proved that all the signals in the resulting closed-loop system are bounded and that the tracking errors converge to a small residual set with the prescribed performance bounds. The effectiveness of the proposed approach is validated by simulation results.
在本研究中，针对一类具有未知控制方向和未知死区输入的不确定多输入多输出（MIMO）非线性系统，开发了一种自适应模糊预设性能控制方法。利用对称矩阵的性质设计自适应模糊预设性能控制器，并在控制器中引入一个努斯鲍姆型函数来估计未知控制方向。该方法有两个突出优点：不需要控制方向的先验知识，对于该MIMO系统仅需在线更新三个参数。证明了所得闭环系统中的所有信号都是有界的，并且跟踪误差收敛到具有预设性能界限的小残差集。仿真结果验证了所提方法的有效性。
