非线性奇异摄动系统的自适应模糊控制器设计

摘要

为解决模型未知情况下多输入多输出非线性奇异摄动系统的跟踪问题,提出一种新型的自适应模糊控制器.首先将被控系统分解为快慢子系统,对慢子系统,设计后件参数可调的直接型自适应模糊控制器,能保证系统的慢状态跟踪预定轨迹；对快子系统,则设计模糊控制器,能够保证快子系统的稳定,最终控制器为二者的合成.Lyapunov方法证明,只要摄动参数足够小,就能保证整个系统的稳定.仿真验证了所提方法的有效性.%We proposed a new approach of the adaptive fuzzy control to solve the tracking problem of the MIMO NSPS with unknown models. The NSPS was decomposed into slow and fast subsystems. For the slow-subsystem, a direct adaptive fuzzy controller with adjustable parameters was designed to make the slow variables follow desired trajectory. As for the fast-subsystem, a fuzzy controller was used to guarantee the fast variables stable. The whole controller was the composition of the slow and fast control. Lyapunov synthesis approach could guarantee the stability of the whole system provided that the perturbation parameter is small enough. Simulations illustrate the effectiveness of the proposed approach.