【摘要】 针对一类单输入单输出仿射非线性系统,利用模糊基函数网络的逼近能力,并根据滑模控制原理在控制器中加入逼近误差和外部干扰补偿控制器,提出了一种模糊直接自适应控制方法。该方法不但实现了系统的鲁棒控制,还同时考虑了误差状态的位置信息和运动信息,较大地改善了系统的控制性能。通过Matlab仿真,证明了所设计的模糊直接自适应控制器不但具有鲁棒性,而且可以保证系统具有很好的跟踪性能。更多还原

【Abstract】 A fuzzy direct adaptive control method is proposed for a kind of SISO affine nonlinear systems. The approximation capability of the fuzzy logic function network is used and the approximation error and the external disturbance compensator are added in the controller based on the principle of the sliding mode control. Not only the robust control is realized but also the position information and the moving information of the error state are considered simultaneously so that the control performance is improved. Finally Matlab is applied to simulation and the effectiveness of the control scheme is proved.更多还原