中文摘要：

针对一类不确定非线性系统，提出将生物个体对外界环境的适应对策引入到间接模糊自适应控制方法．方法的特点是将生物个体的主动自适应性与模糊控制相结合，将反应生物特性能力的结构单位生态位作为模糊规则后件．在仿生模糊系统的基础上，利用Lyapunov综合方法形成状态反馈仿生自适应控制算法，关键问题是重构误差有界，得到的系统具有良好逼近性．仿生控制律有两部分构成，一部分是等效控制，另一部分是边界控制，边界参数自适应律被用于这个边界控制，根据稳定性理论，证明闭环系统的全局稳定性．最后对倒立摆系统进行了仿真，结果证明了该方法的有效性和可行性．

英文摘要：

In this paper, The indirect fuzzy adaptive control based on bionic system is proposed for a class of uncertain nonlinear systems. The characteristic of this new method is the adaptability of individual organisms associated with the fuzzy control, to reflect the biological characteristics of the structure unit niche. The Lyapunov approach is used to de- velop a state-feedback biological adaptive control algorithm based on the biological adaptive fuzzy model. The key assumption is that the reconstruction errors satisfy certain bounding conditions.The control law consists of two items. One is the certainty equivalent control and the other is the bounding conditions control. A bounding parameter adaptive law is used to obtain this bounding control. The closed-loop system is stable in the sense of Lyapunov. Finally, the simulation results for the model of inverted-pendulum are effective and feasible.