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Fuzzy Adaptive Control of Delayed High Order Nonlinear Systems

ISSN号：1000-8152
期刊名称：《控制理论与应用》
时间：0
分类：TP273[自动化与计算机技术—控制科学与工程;自动化与计算机技术—检测技术与自动化装置] TP273.4[自动化与计算机技术—控制科学与工程;自动化与计算机技术—检测技术与自动化装置]
作者机构：[1]School of Instrument Science and Engineering, Southeast University, Nanjing 210096, PRC, [2]Department of Automation, Yangzhou University, Yangzhou 225009, PRC
相关基金：This work was supported by National Nature Science Foun dation （Nos. 61174046, 61175111, 60904030, 60874045, 60874030, 60835001）, University Natural Science Research Project of Jiangsu Province （No. 09KJB510019）, and Natural Science Foundation of the Jiangsu Higher Education Institutions of China （No. 10KJB510027）.

作者： Qing Zhu[1,2], Ai-Guo Song[1], Tian-Ping Zhang[2], Yue-Quan Yang[2]

关键词：高阶非线性系统, 模糊自适应控制, Lyapunov, 一致最终有界, 半闭环系统, 时滞, 模糊逻辑系统, 定理证明, Fuzzy control, adaptive control, time delay, backstepping, nonlinear system.

中文摘要：

这份报纸处理为有输入的非线性的系统推迟的高顺序的一个类追踪控制的问题。系统的未知连续功能被模糊逻辑系统(FLS ) 估计。一个州的变换方法被介绍消除推迟的输入条款。借助于 backstepping 算法，性质最终一致地半全球性跳了(SGUUB ) 靠近环的系统被完成。靠近环的系统的稳定性在稳定性上根据 Lyapunov 被证明第二条定理。追踪的错误被证明被跳它最终收敛到一个足够地小的紧缩的集合。最后，非线性的系统被介绍的高顺序的一个计算机模拟例子，它说明控制计划的有效性。

英文摘要：

This paper deals with the problem of tracking control for a class of high order nonlinear systems with input delay. The unknown continuous functions of the system are estimated by fuzzy logic systems （FLS）. A state conversion method is introduced to eliminate the delayed input item. By means of the backstepping algorithm, the property of semi-globally uniformly ultimately bounded （SGUUB） of the closed-loop system is achieved. The stability of the closed-loop system is proved according to Lyapunov second theorem on stability. The tracking error is proved to be bounded which ultimately converges to an adequately small compact set. Finally, a computer simulation example of high order nonlinear systems is presented, which illustrates the effectiveness of the control scheme.