Adaptive Fuzzy Control for Unknown Nonlinear Systems with Perturbed Dead-zone Inputs
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摘要: 用自适应模糊控制来实现对带有摄动死区输入的一类未知非线性系统的控制. 文中给出了一种新的死区执行器模型, 该模型含有时变并且摄动的执行增益. 通过将死区非线性分解为一个线性类似项, 一个非线性项和一个扰动类似项降低了扰动类似项的上界, 从而可以用更小的控制力度来实现系统的鲁棒性. 利用反步后推技术与非线性参数化的模糊逼近器结合导出控制器, 该设计取消了模糊基函数须事先已知的限制. 本文不仅从理论上证明了所给控制器能够保证闭环系统的稳定性和预期的跟踪性能, 还用仿真实验验证了控制器的有效性.Abstract: Adaptive fuzzy control is used to control a class of unknown nonlinear systems with perturbed dead-zone inputs in this paper. A new dead-zone actuator model which contains time-varying and perturbed actuation gain is proposed. The dead-zone nonlinearity is treated as a linear-like term, a nonlinear term, and a disturbance-like term, by which the robustness of the system can be obtained by less control effort. Backstepping technique combined with nonlinearly parameterized fuzzy approximators is employed to derive the controller, which removes the restriction that fuzzy basis functions must be well-known for control design. It is proved in theory that the proposed controller guarantees the stability and desired tracking performance of the closed-loop system. A simulation example is also included to demonstrate the effectiveness of the controller.
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Key words:
- Adaptive control /
- fuzzy system /
- dead-zone /
- time-varying gain /
- perturbation /
- backstepping technique /
- nonlinear system
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