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针对一类具有未知下三角形函数控制增益矩阵的非线性系统,根据滑模控制原理,并利用I型模糊系统的逼近能力,提出了一种直接自适应模糊控制器设计的新方案.通过引入积分型李亚普诺夫函数及逼近误差自适应补偿项,证明了闭环系统是全局稳定的,跟踪误差收敛到零.仿真结果表明了该方法的有效性.
Aiming at a class of nonlinear systems with unknown lower triangular function control gain matrices, a new scheme of direct adaptive fuzzy controller design is proposed according to the sliding mode control theory and the approximation ability of type I fuzzy systems. By introducing integral Type Lyapunov function and the adaptive compensation term of approximation error prove that the closed-loop system is globally stable and the tracking error converges to zero.The simulation results show the effectiveness of the proposed method.