针对未知非线性系统控制器设计过程中引入逼近器过多的问题,提出一种简化的自适应模糊动态面控制器设计方案。在控制器设计过程中,仅采用一个模糊逻辑系统作为逼近器,使得所有的未知项得到补偿,同时采用自适应技术在线辨识未知参数和逼近误差上界。文中的控制方案克服了传统back—stepping控制器中“复杂性膨胀”的问题。通过构造合适的Lyapunov函数,证明闭环系统的所有信号为半全局最终一致有界。仿真实例验证所提出的控制方案的有效性。
A simplified adaptive fuzzy dynamic surface controller design approach is proposed for the problem that too many approximators are used in the controller design of unknown nonlinear systems. Only one fuzzy logic system is employed as approximator to compensate all the unknown items, and at the same time, adaptive technology is adopted on line to identify the unknown parameter and the upper bound of approximation error. The problem of explosion of complexity in backstepping design procedure is overcome by using the dynamic surface control method. It is proved by constructing appropriate Lyapunov function that all the signals of the closed loop system are semi-globally ultimate uniformly bounded. The efficiency of the proposed control approach is proved by a simulated example