虚拟控制增益函数未知随机非线性系统模糊自适应控制.pdfVIP

Vol. 32, No. 2 ACTA AUTOMATICA SINICA March, 2006 Fuzzy Adaptive Control of Stochastic Nonlinear Systems with Unknown Virtual Control Gain Function1) WANG Ying-Chun ZHANG Hua-Guang WANG Yi-Zhong (Institute of Electrical Automation, Northeastern University, Shenyang 110004) (E-mail: yingchun wang@163.com, z hg@, yzwhd@126.com) Abstract The problem of track control is studied for a class of strict-feedback stochastic nonlinear systems in which unknown virtual control gain function is the main feature. First, the so-called stochastic LaSalle theory is extended to some extent, and accordingly, the results of global ultimate boundedness for stochastic nonlinear systems are developed. Next, a new design scheme of fuzzy adaptive control is proposed. The advantage of it is that it does not require priori knowledge of virtual control gain function sign, which is usually demanded in many designs. At the same time, the track performance of closed-loop systems is improved by adaptive modifying the estimated error upper bound. By theoretical analysis, the signals of closed-loop systems are globally ultimately bounded in probability and the track error converges to a small residual set around the origin in 4th-power expectation. Key words Stochastic nonlinear systems, fuzzy adaptive control, virtual control gain function 1 Introduction The stochastic dynamic systems have been extensively investigated in the past decades and many results were obtained[1,2] . With the proposition of many important concepts of stochastic stability theory [3], q