TS模糊模型非线性时滞系统.ppt

基于T-S模糊模型的非线性时滞系统的稳定性分析及综合---Stability analysis and synthesis of nonlinear time-delay systems via linear Takagi–Sugeno fuzzy models 主要内容 背景目的 主要方法 主要结论 仿真验证 本文亮点 改进之处 一、背景 非线性时滞系统普遍存在 经典方法：局部线性化方法 TS模糊模型 二、主要方法 1、文主要用TS模糊模型的方法表示非线性时滞系统 2、用Lyapunov函数的方法分析其稳定性 3、LMI的数学技巧 4、并行分布式补偿的思想 三、主要结论 无控制输入情况下的稳定的充分性条件 设计状态反馈控制器，并推导了稳定的充分条件 基于状态观测器的状态反馈控制器设计，并推导稳定的充分条件 定理一 用TS模型表示非线性系统： Theorem 1 The equilibrium of the continuous-time fuzzy system with time-delay described by (6) is asymptotically stable in the large if there exist a common matrix P0 and r matrices Si0 such that for i=1,2,…r. Theorem 1 Proof： Boyd et al. 1994 2xTy≤xTQx+yTQ-1y 其中Q0 Theorem 1 Theorem 1 Theorem 1 Theorem 1 Remark: Theorem 2 Theorem 2 Theorem 2 There exists a state feedback fuzzy control law (13) such that the equilibrium of the closed-loop fuzzy system with time-delay described by (14) is asymptotically stable in the large if there exist matrices X0,Si0 and Yi satisfying Si≥X and the following LMIs for all i and j excepting the pairs (i ,j) such that hi(z(t))hj(z(t))=0, ∨t, And then the state feedback gain can be constructed as Theorem 3 Assume that the number of rules that fire for all t is less than or equal to s where 1s≤ r. There exists a state feedback fuzzy control law (13) such that the equilibrium of the closed-loop fuzzy system with time-delay described by (14) is asymptotically stable in the large if there exist matrices X0,Z,Si and Yi satisfying Si≥X and the following LMIs: for all i and j excepting the pairs (i,j) such that hi(z(t))hj(z(t))=0, ∨t Theorem 3 Proof: Theorem 3 Lemma 2. If the number of rules that fire for all t is less than or equal to s where 1s≤r, then Theorem 3 Theorem 4 Theorem 4 Theorem 4 Theorem 4 Theorem 4 Theorem 4 Theorem 4 The equilibrium of the closed-loop fuzzy time-delay system with observer-based control law (25) described by (28) is asymptotically stab