非线性纯反馈时滞系统的自适应模糊跟踪控制
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摘要
针对一类不确定非线性纯反馈时滞系统的自适应模糊跟踪控制问题,本文采用模糊逻辑系统来逼近系统中未知的非线性函数,利用自适应方法和Backstepping方法构造出一种自适应模糊控制器,并给出了非线性纯反馈时滞系统跟踪控制问题可解的充分条件。仿真结果表明,所设计的自适应模糊控制器,保证闭环系统的所有变量有界,并确保系统输出有效跟踪给定的参考信号,跟踪误差收敛到原点的一个充分小的邻域之内,同时其他闭环信号保持有界。该控制方法可以有效地减少系统在线计算负担。
This paper addresses the problem of adaptive fuzzy control for a class of uncertain nonlinear pure-feedback systems with time delays.Fuzzy logic systems are used to approximate the unknown nonlinear functions,and then adaptive technique and back stepping method are utilized to construct adaptive fuzzy controller.In addition,the work in the paper provides a new sufficient condition for the tracking control of nonlinear pure-feedback systems with time delays.Simulation results show that the proposed adaptive controller guarantees that all the variables in the closed-loop system are bounded while the system's output follows the given reference signal well.The proposed controller will reduce the system online calculation burden.
This paper addresses the problem of adaptive fuzzy control for a class of uncertain nonlinear pure-feedback systems with time delays.Fuzzy logic systems are used to approximate the unknown nonlinear functions,and then adaptive technique and back stepping method are utilized to construct adaptive fuzzy controller.In addition,the work in the paper provides a new sufficient condition for the tracking control of nonlinear pure-feedback systems with time delays.Simulation results show that the proposed adaptive controller guarantees that all the variables in the closed-loop system are bounded while the system's output follows the given reference signal well.The proposed controller will reduce the system online calculation burden.
引文
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[14]Wang Min,Chen Bing,Liu Xiaoping,et al.Adaptive Fuzzy Tracking Control for a Class of Perturbed Strict-Feedback Ninlinear Time-Delay Sustems[J].Fuzzy Sets and Systems,2008,159(8):949-967.
[15]Wang Huanqing,Chen Bing,Lin Chong.Adaptive Neural Control for Strict-Feedback Stochastic Nonlinear Systems with Time-Delay[J].Neurocomputing,2012,77(1):267-274.
[16]Zadeh A.Fuzzy Sets[J].Information and Control,1965,8(3):338-353.
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[2]Marino R,Tomei P.Nonlinear Control Design:Geometric,Adaptive and Robust[M].London:Prentice-Hall,1995.
[3]Chen Bing,Liu Xiaoping,Lin Chong.Direct Adaptive Fuzzy Control of Nonlinear Strict-Feedback Systems[J].Automatica,2009,45(6):1530-1535.
[4]Krstic M,Kanellakopoulos I,Kokotovic P V.Nonlinear and Adaptive Control Design[M].New York:Wiley,1995.
[5]Ploycarpou M M,Loannou P A.A Robust Adaptive Nonlinear Control Design[C]//Americam Control Conference.San Francisco,CA,USA:IEEE,1993:1365-1369.
[6]Zhang T,Ge S S,Hang C C.Adaptive Neural Network Control for Strict-Feedback Nonlinear Systems Using Backstepping Design[J].Automatica,2000,36(12):1835-1846.
[7]Wang WEI-Yen,Chan Mei-Lang,Liu Lee Tsu-Tian,et al.Adaptive Fuzzy Control for Strict-Feedback Canonical Nonlinear Systems with H∞Tracking Performance[J].IEEE Systems,Man,and Cybernetics,Society,2000,30(6):878-885.
[8]Du H,Shao H,Yao P.Adaptive Neural Network Control for a Class of Low-Triangular-Structured Nonlinear Systems[J].IEEE Transactions on Neural Networks,2006,17(2):509-514.
[9]Seto D,Annasyamy A M,Baillieul J.Asaptive Control of Nonlinear Systems with a Triangular Structure[J].IEEE Trans.Automat.Control,jul.1994,39(7):1411-1428.
[10]Wang D,Huang J.Adaptive Neural Network Control for a Class of Uncertain Nonlinear Systems in Pure-Feedback from[J].Automatica,2002,38(8):1365-1372.
[11]Wang Cong,Hill D J,Ge S S,et al.An ISS-Mosular Approack for Adaptive Neural Control of Pure-Feedback Systems[J].Automatica,2006,42(5):723-731.
[12]Wang M,Ge S S,Hong K S.Approximation-Based Adaptive Tracking Control of Pure-Feedback Nonlinear Systems with Multiple Unknown Time-Varying Delays[J].IEEE Transactions on Neural Networks,2010,21(11):1804-1816.
[13]Ho D W C.Li Junmin,Niu Yugang.Adaptive Neural Control for a Class of Nonlinearly Parametric Time-Delay Systems[J].IEEE Transactions on Neural Networks,2005,16(3):625-635.
[14]Wang Min,Chen Bing,Liu Xiaoping,et al.Adaptive Fuzzy Tracking Control for a Class of Perturbed Strict-Feedback Ninlinear Time-Delay Sustems[J].Fuzzy Sets and Systems,2008,159(8):949-967.
[15]Wang Huanqing,Chen Bing,Lin Chong.Adaptive Neural Control for Strict-Feedback Stochastic Nonlinear Systems with Time-Delay[J].Neurocomputing,2012,77(1):267-274.
[16]Zadeh A.Fuzzy Sets[J].Information and Control,1965,8(3):338-353.
[17]Wang L X,Mendel J M.Fuzzy Basis Functions,Universal Approximation and Orthogonal,Least Squares Learning[J].IEEE Transactions on Neural Networks,1992,3(5):807-814.