【作者】 于建江； 张天平； 周彩根；

【Author】 Yu Jian-jiang, Zhang Tian-ping, Zhou Cai-gen(Department of Computer, College of Information Engineering, Yangzhou University, Yangzhou 225009, China) (Department of Computer, Yancheng Teachers’ College, Yancheng 224002, China)

【机构】 扬州大学信息工程学院计算机系；

【摘要】 针对一类具有摄动的严格反馈非线性时滞系统,基于后推设计方法,利用第一类模糊系统的逼近能力,提出了一种新的直接自适应控制方案。该方案避免了虚拟控制增益符号已知的假设。设计中引入连续鲁棒项对系统的摄动部分进行抑制。通过理论分析,证明了闭环系统是半全局一致终结有界的,跟踪误差收敛到一个小的残差集内。更多还原

【Abstract】 A new design scheme of direct adaptive fuzzy controller for a class of perturbed strict feedback nonlinear time-delay systems is proposed in this paper. The design is based on backstepping and the approximation capability of the first-type fuzzy systems. The proposed design method dose not require a priori knowledge of the signs of the unknown virtual control coefficients. A continuous robust term is adopted to minify the influence of modeling error or disturbance. By theoretical analysis, the closed-loop control system is proven to be semiglobally uniformly ultimately bounded, with tracking error converging to a residual set.更多还原