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针对一类单输入单输出非线性不确定系统,在系统不完全直接可测的情况下,基于李亚普诺夫理论设计方法,通过采用自适应模糊逻辑系统逼近被控对象的未知非线性和引进一种误差观测器,设计了一种基于观测器的鲁棒自适应模糊控制。该方法考虑了函数逼近误差和系统外扰的存在,给出了这个界的自适应估计项,最后证明了所设计的控制器稳定收敛。
For a class of single input single output nonlinear uncertain systems, based on the Lyapunov theory design method, the system is not completely measurable directly by using the adaptive fuzzy logic system to approximate the unknown nonlinearity of the controlled object and introduce a A kind of observer-based robust adaptive fuzzy control is designed. This method considers the existence of function approximation error and system external perturbation, gives the adaptive estimation term in this field, and finally proves that the designed controller converges stably.