Indirect Adaptive Control Based on Hierarchical Fuzzy Systems
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摘要: 为解决模糊控制器中规则数目随系统变量的个数呈指数增长的问题,利用分层模糊系统设计了一类非线性系统的间接自适应控制器,并证明了所提出的设计方法不但能够保证闭环系统的一致有界性,而且可使跟踪误差收敛到原点的小邻域内.通过对倒立摆控制的仿真研究验证了方法的有效性.Abstract: In order to solve the problem that the number of rules in a (standard) fuzzy controller increases exponentially with the number of variables involved, an indirect adaptive control scheme for a class of nonlinear systems was proposed based on hierarchical fuzzy systems. It was proved that the proposed scheme can not only guarantee the uniformly ultimate boundedness of the closed-loop system, but also makes the tracking error converge to the origin or its small neighbourhood. Simulation results on controlling an inverted pendulum verified the efficiency of the hierarchical adaptive fuzzy controller.
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Key words:
- fuzzy system /
- control /
- adaptive control /
- uniformly ultimate boundness
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