论文部分内容阅读
研究一类单输入单输出动态不确定非线性系统的几乎干扰解耦问题.首先设计一类新型的模糊高增益观测器估计非线性系统的未知状态;然后结合自适应模糊backstepping控制、小增益定理和改变供能函数方法,给出鲁棒自适应模糊控制器的设计.所设计的控制器不仅可以保证整个闭环系统在输入到状态实际稳定意义下稳定,同时抑制了干扰对输出的影响.仿真结果表明了所提出控制方法的有效性.
In this paper, we study the almost disturbance decoupling problem for a class of single-input / single-output dynamic uncertain nonlinear systems. First, we design a new type of fuzzy high-gain observer to estimate the unknown state of the nonlinear system. Then we combine the adaptive backstepping control, And changing the method of energy supply function, a robust adaptive fuzzy controller is designed. The designed controller can not only ensure the stability of the whole closed-loop system in the sense of inputting to the actual state of the state, but also suppress the influence of interference on the output. The results show the effectiveness of the proposed control method.