带有状态观测器直接PI自适应模糊控制器设计.pdfVIP

Proceedings of the 29th Chinese Control Conference July 29-31, 2010, Beijing, China * 带有状态观测器的直接PI 自适应模糊控制器设计 1 1 2 郑亚琴 ，刘艳军，李东娟 1. 宁工业大学理学院, 辽宁, 锦州 121001 2. 宁工业大学化学与环境工程学院, 辽宁, 锦州121001 E-mail: zhengyaqin0520@ 要 针对一类不确定非线性多变量系统，提出了一种带有观测器的直接型自适应模糊控制方法。系统的状态假设 是不可测的，用观测器去估计这些不可测的状态。本方法设计的直接型控制律含有PI结构，可增强系统的鲁棒性和克 服外界干扰。另外，所提的方法能提高收敛速度。基于Lyapunov分析法证明了 环系统的所有信号是有界的以及跟踪 误差收敛到小的零邻域内。 关键词:非线性系统，自适应模糊控制，观测器，不确定性 A Direct PI Adaptive Fuzzy Controller Design With State * Observer 1 1 2 ZHENG Ya-Qin , LIU Yan-Jun , LI Dong-Juan 1. School of Sciences, Liaoning University of Technology, Jinzhou 121001, P. R. China 2. Chemical and Environmental Engineering Institute, Liaoning University of Technology, Jinzhou 121001, P. R. China E-mail: zhengyaqin0520@ Abstract A direct PI adaptive fuzzy control scheme with the state observer is presented for a class of uncertain multiple-input- multiple-output (MIMO) nonlinear systems. Because the states are assumed to be unavailable, an observer is designed to estimate the unavailable states. Due to a PI control architecture to be designed, it improves robustness in the closed-loop system and avoids affection of uncertainties and external disturbances. In addition, this scheme enhances speed of the convergence. Based on the stability Lyapunov theory, it can be ensured that all signals of closed-loop system are bounded, and the tracking errors converge