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针对一类不确定的多输入多输出(MIMO)离散时间零动态不稳定非线性系统,提出了一种基于未建模动态补偿的非线性广义预测解耦切换控制方法.该控制方法要求系统的未建模动态满足线性增长条件,放宽了未建模动态全局有界的限制.建立了所提的自适应控制方法的稳定性和收敛性分析.而且,在设计广义预测解耦控制器时,把“一一映射”与ANFIS的训练相结合来估计系统的未建模动态,保证了ANFIS的万能逼近特性.最后,仿真结果验证了所提方法的优越性.
Aiming at a class of uncertain nonlinear MIMO systems with multiple input and multiple output (MIMO) time-varying uncertainties, a nonlinear generalized predictive decoupling switch control method based on unmodeled dynamic compensation is proposed. The control method requires that the system The unmodeled dynamic satisfies the condition of linear growth and relaxes the limitation of unmodeled dynamic global boundedness. The stability and convergence analysis of the proposed adaptive control method are established. Moreover, when designing generalized predictive decoupling controller, Combining the “one-to-one mapping” with the ANFIS training to estimate the unmodeled dynamics of the system, the universal approximation of ANFIS is guaranteed. Finally, the simulation results verify the superiority of the proposed method.