区间Type-2 T-S间接自适应模糊控制

摘要

本文在Type-1 T-S间接自适应模糊控制器的基础上,利用Type-2模糊系统理论,提出了区间Type-2 T-S间接自适应模糊控制器的设计方法.由于该系统的规则前件是区间Type-2模糊集合,后件为精确数,使构造的控制方法既具备Type-2模糊集处理诸多不确定性的特点,能够减少由于规则不确定对系统的影响,同时又具有T-S模糊模型后件为各输入变量的线性组合的特点,可以提高系统的建模精度,减少系统的规则数等优点.本文利用Lyapunov合成方法,研究了在所有变量一致有界的意义下,闭环系统的全局稳定性,分析了区间Type-2 T-S间接自适应模糊控制系统的收敛性,并给出了系统参数的自适应律.通过倒立摆跟踪模型进行仿真,验证其有效性和优越性.%Based on Type-1 T-S indirect adaptive fuzzy control,the design scheme of the interval Type-2 T-S indirect adaptive fuzzy control is presented by using Type-2 fuzzy logic systems（FLS） theory.In this system,the antecedents of the rules are interval Type-2 fuzzy sets and the consequents are crisp numbers.Hence the control method inherits the benefits of Type-2 FLS which are able to directly handle rule uncertainties and can minimize the effects of uncertainties in rule-based FLS.Further more,it contains characteristics of T-S fuzzy model whose consequents are linear state equations,which can improve the accuracy in system modeling and reduce the rule numbers of the system.In the sense that all the variations involved are uniformly bounded,the closed-loop system can reach global stability by using Lyapunov synthesis approach.The convergence of the proposed indirect adaptive fuzzy system is analyzed by this approach,and the adaptive law is derived.The numerical simulation of controlling an inverted pendulum validates the effectiveness and advantage of the proposed method.