【摘要】 针对状态不可测的一类不确定非线性系统,利用模糊系统的逼近能力,提出一种基于观测器的直接自适应模糊控制方案。该方案通过引入观测量的调制函数,使得模糊系统的输入集在有界闭区域上,从而取消了观测量有界的假设。利用Kalman Yacubovitch Popov定理及李亚普诺夫函数,证明了闭环控制系统所有信号是有界的,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 observer based direct adaptive fuzzy controller for a class of uncertain nonlinear dynamical systems with unmeasurable states is proposed by using the approximation capability of fuzzy systems. A modulation function of observer-variables is adopted to keep the input-sets of fuzzy system always bounded. Then some properties about the approximation capability of fuzzy logic systems are used, with canceling the assumption of boundedness of observer-variables. By Kalman-Yacubovitch-Popov theorem and Lyapunov function, 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