中文摘要：

针对多输入多输出非线性时变时延系统,提出了一种模糊自适应跟踪控制方案,该方案构建了基于模糊T-S模型的自适应时变时延模糊逻辑系统,用来逼近未知非线性时变时延函数,从而实现了对非线性系统的建模。根据跟踪误差给出了模糊逻辑系统的参数自适应律,设计了H∞补偿器来抵消模糊逼近误差和外部扰动。基于Lyapunov稳定性理论,提出的控制方案保证了闭环系统的稳定性并获得了期望的H∞跟踪性能,机械臂的仿真结果表明了该方案的有效性。

英文摘要：

A fuzzy adaptive tracking control scheme is proposed for MIMO nonlinear time-varying delay systems. A fuzzy T-S model-based adaptive time-varying delay fuzzy logic systems is developed to approximate the unknown nonlinear time-varying delay functions. Thus, the modeling to nonlinear systems is implemented. The update laws for parameters of the fuzzy logic systems are derived by the tracking error. A Ha compensator is designed to eliminate fuzzy approximation errors and external disturbances. Based on Lyapunov stability theorem, the proposed control scheme can guarantee the stability of the closed loop systems and obtain anticipant H∞ tracking performance as well. Simulation results of the manipulator demonstrate the effectiveness of the control scheme.