【摘要】 针对传统的模糊自适应控制方案进行了研究。在此方案的基础上加入鲁棒补偿项,利用Lyapunov稳定性理论证明了系统的全局稳定性,并放宽稳定条件到w有界。且取消了对非线性系统部分条件的限制,扩大了适用范围。最后对倒立摆对象的仿真结果表明控制策略的有效性。更多还原

【Abstract】 Minimum approximation error in traditional fuzzy adaptive control proposal is developed.Robust compensation is added based on original control proposal.Global stability of the system is proved via the theory of Lyapunov stability,and the stable con- dition is further broaden to w bounded.Moreover,the limitation of partial condition for the nonlinear system is canceled and it’s applicable extent is expanded.At last,the simulation result for inverted pendulum object shows the improved control efforts.更多还原