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针对多输入多输出非线性多时滞系统,提出了一种直接自适应模糊跟踪控制方案.该方案有机综合了自适应控制和H∞控制,构建了一种自适应时滞模糊逻辑系统用来逼近有多重时滞的未知函数;设计了H∞补偿器来抵消模糊逼近误差和外部扰动.根据跟踪误差给出了参数调节规律,构造了包含时滞的李亚普诺夫函数,从而证明了误差闭环系统满足期望的H∞跟踪性能.仿真结果表明了该方案的可行性.
Aiming at the multi-input multi-output nonlinear multi-delay system, a direct adaptive fuzzy tracking control scheme is proposed. This scheme combines adaptive control with H∞ control, and constructs an adaptive fuzzy logic system with delay to approximate H∞ compensator is designed to counteract the fuzzy approximation error and the external disturbance.According to the tracking error, the law of parameter adjustment is given, and the Lyapunov function with delay is constructed, which proves that the error closed-loop system Satisfy the expected H∞ tracking performance.The simulation results show the feasibility of the scheme.