一种具有连续监督控制功能的组合型自适应模糊控制方法-期刊.pdfVIP

th Proceedings of the 25 Chinese Control Conference 7-11 August, 2006, Harbin, Heilongjiang 一种具有连续监督控制功能的组合型 1 自适应模糊控制方法 彭忠芳，王伟，刘艳军 大连理工大学信息与控制研究中心，大连 116023 pengzhongfang@163.com E-mail ： 摘 要: 针对一类不确定非线性系统，本文提出了一种具有连续监督控制功能的组合型自适应模糊控制方法。本 方法设计的组合型控制律由三部分组成：跟踪控制项、连续监督控制项和自适应补偿控制项。该方法充分利用 被控对象知识和控制行为知识，通过自适应补偿控制项来同时补偿模糊逻辑系统的逼近误差及外部干扰的影 响，在稳定性分析中不要求最小逼近误差满足平方可积的条件。基于Lyapunov稳定性理论，证明了闭环系统的 所有信号是有界的，并且跟踪误差收敛到零。仿真结果表明了该方法的有效性。 关键词: 非线性系统，自适应模糊控制，连续监督控制，组合控制，不确定性 A Combined Adaptive Fuzzy Control Method with the Function of Continuous Supervisory Control Peng Zhongfang, Wang Wei, Liu Yanjun Research Center of Information and Control, Dalian University of Technology, Dalian 116023 E-mail ： pengzhongfang@163.com Abstract: For a class of uncertain nonlinear systems, a combined adaptive fuzzy control method with the function of continuous supervisory control is proposed in this paper. In the method, the combined controller is composed of three parts: tracking controller, continuous supervisor controller and adaptive compensation controller. This method utilizes the knowledge of controlled object and control behavior adequately. An adaptive compensator is used in the controller to compensate the approximation error of fuzzy logic system and effect of the external disturbance. In stability analysis, the term of minimum approximation error to be squared integral is not needed. Based on Lyapunov stability theory, it is