【摘要】 针对一类具有未知函数增益的不确定非线性系统 ,基于监督控制方法并利用第二类模糊系统的通用逼近能力 ,提出一种新的直接自适应模糊控制设计方案 .该方案通过引入最优逼近误差的自适应补偿项和新的鲁棒项 ,削减建模误差和参数估计误差的影响 ,从而在稳定性分析中取消了要求逼近误差平方可积或逼近误差的上确界已知的条件 .理论分析证明了闭环系统状态有界 ,跟踪误差收敛到零 .仿真结果表明了该方法的有效性更多还原

【Abstract】 A new design scheme of direct adaptive fuzzy controller for a class of nonlinear dynamical systems with unknown function control gains is proposed in this paper. The design is based on the supervisory control strategy and the approximation capability of the second class fuzzy systems. The adaptive compensation term of the optimal approximation error and a new robust term are adopted to minify the influence of modeling error and parameter estimation error. The approach does not require the optimal approximation error to be square integrable or the supremum of the optimal approximation error to be known. By theoretical analysis, the closed loop control system is proven to be globally stable in the sense that all signals involved are bounded, with tracking error converging to zero. Simulation results demonstrate the effectiveness of the approach.更多还原