具有未建模动态的非线性系统自适应模糊控制方法研究

发布时间：2018-08-14 17:24

【摘要】：本篇论文主要针对具有未建模动态的多输入多输出非线性系统,进行了自适应模糊控制方法的研究。针对具有未建模动态的多输入多输出非线性系统以及同时具有输入死区和未建模动态的非线性关联系统,分别设计了自适应模糊控制和自适应模糊分散控制两种不同的控制方案。基于Lyapunov理论,所设计的控制方案均达到了闭环系统期望的控制性能。所提出方案的有效性均在仿真结果中得到了验证。本文主要从下面两个部分进行论述:1.针对具有未建模动态的多输入多输出非线性系统研究了模糊自适应控制设计方法。应用模糊系统近似系统的未知非线性函数,结合反步递推技术和自适应控制进行控制器设计。所提出的控制方案保证了闭环系统所有信号半全局一致最终有界。仿真结果验证了所提控制方案的有效性。2.针对一类具有未建模动态和输入死区的多输入多输出非线性关联系统,进行了自适应模糊控制方法的研究。首先,将死区等价分解成关于死区输入和死区参数的线性部分与有界非线性扰动部分之和的形式。进而,基于反步递推技术和模糊控制提出了不依赖非平滑输入参数的自适应模糊分散控制方法。最后,数值算例进一步验证了所提控制方法的有效性。
[Abstract]:In this paper, the adaptive fuzzy control method is studied for multi-input and multi-output nonlinear systems with unmodeled dynamics. For multi-input and multi-output nonlinear systems with unmodeled dynamics and nonlinear correlation systems with both input dead-time and unmodeled dynamics, Two different control schemes, adaptive fuzzy control and adaptive fuzzy decentralized control, are designed respectively. Based on Lyapunov theory, the designed control schemes achieve the desired control performance of the closed loop system. The effectiveness of the proposed scheme is verified by simulation results. This paper mainly discusses the following two parts: 1. The design method of fuzzy adaptive control for multi-input and multi-output nonlinear systems with unmodeled dynamics is studied. Using the unknown nonlinear function of the approximate system of fuzzy system, the controller is designed by combining the backstepping recursive technique and adaptive control. The proposed control scheme ensures that all the signals in the closed loop system are semi-globally uniformly bounded. Simulation results verify the effectiveness of the proposed control scheme. An adaptive fuzzy control method is proposed for a class of multi-input multi-output nonlinear correlated systems with unmodeled dynamics and dead-time inputs. First, the dead-zone equivalence is decomposed into the form of the sum of the linear part and the bounded nonlinear perturbation part of the dead-zone input and dead zone parameters. Furthermore, an adaptive fuzzy decentralized control method is proposed based on backstepping recursive technique and fuzzy control, which does not depend on non-smooth input parameters. Finally, numerical examples further verify the effectiveness of the proposed control method.
【学位授予单位】：渤海大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP273

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