CAJ | 학술논문

针对一类控制增益函数未知的、含有不确定项的非线性系统，为实现其跟踪控制目标，提出了一种鲁棒直接自适应模糊控制方法。该方法仅要求控制增益函数为有界函数，用广义模糊双曲正切模型逼近一个与控制增益函数无关的新颖的等价控制器，并为消除系统中的不确定项和逼近误差设计了一个双曲形式的鲁棒补偿控制项，从而保证了系统跟踪误差收敛到原点的一个小的邻域内，且所有的变量一致有界，控制输入平滑没有抖振。利用 Lyapunov函数证明了该算法的有效性，并用倒立摆仿真实例进行了验证。
침대일류공제증익함수미지적、함유불학정항적비선성계통，위실현기근종공제목표，제출료일충로봉직접자괄응모호공제방법。해방법부요구공제증익함수위유계함수，용엄의모호쌍곡정절모형핍근일개여공제증익함수무관적신영적등개공제기，병위소제계통중적불학정항화핍근오차설계료일개쌍곡형식적로봉보상공제항，종이보증료계통근종오차수렴도원점적일개소적린역내，차소유적변량일치유계，공제수입평활몰유두진。이용 Lyapunov함수증명료해산법적유효성，병용도립파방진실례진행료험증。
A robust direct self-adaptive fuzzy control scheme for a class of nonlinear system with uncertainty and unknown control gain function is proposed to achieve tracking control. In this scheme,only based on existence of control gain function bound,a novel certainty equivalent controller which is unconcerned of control gain function is approximated by a generalized fuzzy hyperbolic model (GFHM).Furthermore,a robust compensation control term is constructed in the form of hyperbolic function to eliminate uncertainty of nonlinear system and the approximation error.Then,the overall control system guarantees that the tracking error converges in the small neighborhood of zero and that all signals involved are uniformly bounded,also a smooth control input with no chattering phenomena is developed.The effectiveness of the proposed control algorithm is proved by Lyapunov function and the simulation example of the inverted pendulum tracking control system.