【摘要】 本文设计了一种自适应模糊跟踪控制器,用于处理一类具有完全未知的时滞的非线性系统的稳定控制问题。模糊逻辑系统被用为系统未知非线性时滞函数的逼近器,以期能有效处理系统中的未知量,同时用并用参考信号代换模糊逼近器输入中的未知时滞,避免了对未知时滞信号的微分,使得控制器是不依赖于时滞的。自适应Backstepping设计方法和自适应边界技术结合起来处理辨识误差和代换误差。通过构造Lyapunov-Krasovskii泛函证明了闭环系统的所有信号半全局一致最终有界(SGUUB),系统输出能够跟踪参考信号。更多还原

【Abstract】 An adaptive fuzzy control design approach is proposed for a class of nonlinear systems with completely unknown time delays. Fuzzy logic systems( FLS) are employed to approximate the nonlinear time-delay functions of the system,and then the delay signals are replaced by the reference signals,so that the differentiations of the delay signals are avoided,and the designed controller is delay-independent. Adaptive backstepping design approach and adaptive bounding technique are combined to deal with the approximate errors and the replaceable errors. Using Lyapunov-Krasovskii functional,all the signals in the closed-loop system are proven to be semi-globally uniformly ultimately bounded( SGUUB) and the tracking error is proven to converge to a small neighborhood of the origin. A simulation result is presented to show the effectiveness of the approach.更多还原