CAJ | 학술논문

针对一类含有不确定项的非线性系统，提出了一种鲁棒直接自适应模糊控制算法，可在系统的控制增益已知、部分已知和未知三种情况下，实现系统跟踪有界参考信号的控制目标。该算法采用广义模糊双曲正切模型逼近系统的等价控制项，广义模糊双曲正切模型具有模糊规则个数少，更易于用语言描述获取的特点，在实际应用中更易实现。同时，引入鲁棒补偿项消除系统的不确定项和逼近误差，放宽系统稳定条件为最小近似误差有界。利用Lyapunov函数证明了采用上述控制策略保证了控制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。仿真例子说明了该算法的有效性。
침대일류함유불학정항적비선성계통，제출료일충로봉직접자괄응모호공제산법，가재계통적공제증익이지、부분이지화미지삼충정황하，실현계통근종유계삼고신호적공제목표。해산법채용엄의모호쌍곡정절모형핍근계통적등개공제항，엄의모호쌍곡정절모형구유모호규칙개수소，경역우용어언묘술획취적특점，재실제응용중경역실현。동시，인입로봉보상항소제계통적불학정항화핍근오차，방관계통은정조건위최소근사오차유계。이용Lyapunov함수증명료채용상술공제책략보증료공제계통근종오차수렴도원점적일개소적린역내，차소유적변량일치유계。방진례자설명료해산법적유효성。
For a class of nonlinear systems with uncertainty, a robust direct adaptive fuzzy control scheme is proposed to achieve tracking reference signal on conditions that the control gain of the system is known/known partly/unknown. In this scheme, the certainty equivalent control term is approximated by a fuzzy model, which is called the generalized fuzzy hyperbolic model (GFHM). Because it is easier to describe and access, with a lower number of fuzzy rules, GFHM is achieved easily in engineering practice. Further, a robust compensation term is introduced to compensate the approximation error and uncertainty. The system stability condition is relaxed to the existence of bounds of minimum approximation error. Through Lyapunov function it is proven that the overall control system guarantees that the tracking error converges in the small neighborhood of zero and that all signals involved are uniformly bound. An example of the simulation is provided to demonstrate the effect of the proposed control algorithm.