摘要
针对一类带有时变时滞和未知死区的纯反馈非线性系统,提出一种新的自适应模糊跟踪控制方案。采用自适应反步法设计了一个虚拟控制输入信号;利用模糊逻辑近似解决了系统中的未知函数所带来的困扰;为了处理未知死区干扰,设计了一个自适应模糊控制器,使用中值定理解决纯反馈结构中设计控制器的复杂问题。该控制方案保证闭环系统所有信号半全局一致有界,与此同时,系统的跟踪误差收敛到原点的一个小邻域内。最后,仿真例子证明了方案的有效性。
For a class of pure-feedback nonlinear systems with time-varying delay and unknown dead-zone,this paper proposed a new adaptive fuzzy tracking control scheme.A virtual control input signal was first designed by using back-stepping technique.Based on a fuzzy logic system approximation,the trouble brought about by the unknown function system was settled.In order to solve the interference by the unknown dead zone,an adaptive fuzzy controller was designed.Mean-value theorem was introduced to deal with the difficulty arising from the pure-feedback structure in designing controller.This control scheme can ensure that all the semi-global signals in the closed-loop systems are uniformly bounded and the tracking error of the system can converge to a small neighborhood of the origin.The effectiveness of the proposed scheme was finally verified with simulated examples.
引文
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