不确定性机械系统的最优鲁棒控制设计模糊法.PDFVIP

31 5 Vol. 31 No. 5 2014 5 Control Theory Applications May 2014 DOI: 10.7641/CTA.2014.30373 : , , , (1. , 230009; 2. , 30332, ) : , . . (), (). , . , . , (, ). , . . , , , . , . : ; ; ; : TP273 : A Optimal robust control design of uncertain mechanical systems: a fuzzy approach ZHEN Sheng-chao , ZHAO Han , HUANG Kang , CHEN Yi-hua (1. School of Mechanical and Automotive Engineering, Hefei University of Technology, Hefei Anhui 230009, China; 2. Mechanical Engineering, Georgia Institute of Technology, Atlanta Georgia 30332, USA) Abstract: A new optimal robust control is proposed for mechanical systems with fuzzy uncertainty. Fuzzy set theory is used to describe the bound of uncertainty. The desirable system performance is deterministic (assuring the bottom line) and also fuzzy (enhancing the cost consideration). The proposed control is deterministic but is not the usual if-then rules-based. The resulting controlled system is proved to be uniformly bounded and uniformly ultimately bounded via the Lyapunov minimax approach. A performance index (the composite cost which includes the average fuzzy system performance and the control effort) is proposed based on the fuzzy information. The optimal design problem associated with the control can then be solved by minimizing the performance index. The unique closed-form optimal gain and the cost