Stable Fuzzy Adaptive Controller Design for Nonlinear Singularly Perturbed Systems

摘要

The controllers of the MIMO Nonlinear Singularly Perturbed Systems (NSPS) are usually developed based on the fast-slow decomposition and two-stage approach. It is necessary that the mathematical models of the plants are exactly known, which sometimes can't be achieved in the practical industry. We propose a new approach of the adaptive fuzzy control to solve the tracking problem of the NSPS with unknown models. Firstly, a direct adaptive fuzzy sub-controller with adjustable parameters is designed for the slow subsystem. The objective is to guarantee the slow states follow the expected trajectory. Then a fuzzy controller is designed as a fast sub-controller to make the fast subsystem stable. The final controller is the composition of the above mentioned ones. The simulation is given out to illustrate the effectiveness of the proposed method.