重庆大学学报2013，Vol.36Issue(2)：148-156,9.
多输入多输出非线性时变时延系统的自适应跟踪控制
Fuzzy adaptive tracking control for MIMO nonlinear time-varying delay systems
摘要
Abstract
A fuzzy adaptive tracking control scheme is proposed for MIMO nonlinear time-varying delay systems. A fuzzy T-S model-based adaptive time-varying delay fuzzy logic systems is developed to approximate the unknown nonlinear time-varying delay functions. Thus, the modeling to nonlinear systems is implemented. The update laws for parameters of the fuzzy logic systems are derived by the tracking error. A H∞ compensator is designed to eliminate fuzzy approximation errors and external disturbances. Based on Lyapunov stability theorem, the proposed control scheme can guarantee the stability of the closed loop systems and obtain anticipant H∞ tracking performance as well. Simulation results of the manipulator demonstrate the effectiveness of the control scheme.关键词
多输入多输出/非线性系统/时变时延/模糊T-S模型/自适应模糊逻辑系统/跟踪控制Key words
MIMO/ nonlinear systems/ time-varying delay/ fuzzy T-S model/ fuzzy logic systems/ tracking control分类
信息技术与安全科学引用本文复制引用
杜贞斌,李涛..多输入多输出非线性时变时延系统的自适应跟踪控制[J].重庆大学学报,2013,36(2):148-156,9.基金项目
国家自然科学基金资助项目(61203320) （61203320）
山东省自然科学基金(ZR2011FQ037) （ZR2011FQ037）
