摘要
针对一类严格反馈型不确定切换非线性系统,系统包含未知非线性函数和未知状态特性,提出一种自适应模糊输出反馈控制方案.该方案在反步法设计框架中引入非线性跟踪微分器,直接对虚拟控制信号的微分进行估计,避免了传统反步法设计中复杂性爆炸的问题,同时设计补偿信号消除了滤波误差对控制性能的影响.系统中的未知非线性函数通过模糊逻辑系统在线逼近,并构造模糊状态观测器来观测系统的未知状态.通过对该方案的理论证明可以保证闭环系统中所有信号均是有界的,并且跟踪误差在有限时间内可以收敛于零的小邻域内.最后,利用数值仿真算例进一步验证了该方案的有效性.
For a class of uncertain switched nonlinear systems with strict feedback forms,which contains unknown nonlinear functions and unknown state properties,an adaptive fuzzy output feedback control scheme is proposed. The scheme introduced a nonlinear tracking differentiator in the backstepping design framework to estimate the differentiation of the virtual control signal,avoiding the complexity explosion problem in the traditional backstepping design. At the same time,the compensation signal was designed to eliminate the influence of the filtering error on the control performance. The unknown nonlinear functions in the system were approximated online by fuzzy logic system,and the fuzzy state observer was designed to observe the unknown state of the system. Through the theoretical proof of the scheme,all signals in the closed-loop system can be guaranteed to be bounded and the tracking error can converge in the small neighborhood of zero within a limited time. The simulation example was provided to check the effectiveness of the proposed approach.
作者
田艳兵
魏巍
代明星
TIAN Yan-bing;WEI Wei;DAI Ming-xing(School of Information and Control Engineering,Qingdao University of Technology,Qingdao Shandong 266520,China)
出处
《计算机仿真》
北大核心
2019年第10期316-321,共6页
Computer Simulation
关键词
切换非线性系统
自适应模糊控制
非线性跟踪微分器
补偿信号
模糊状态观测器
Switched nonlinear system (SNS)
Adaptive fuzzy control
Nonlinear tracking differentiator
Compensation signal
Fuzzy state observer
