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针对一类不确定非线性系统,提出将生物个体对外界环境的适应对策引入到间接模糊自适应控制方法.方法的特点是将生物个体的主动自适应性与模糊控制相结合,将反应生物特性能力的结构单位生态位作为模糊规则后件.在仿生模糊系统的基础上,利用Lyapunov综合方法形成状态反馈仿生自适应控制算法,关键问题是重构误差有界,得到的系统具有良好逼近性.仿生控制律有两部分构成,一部分是等效控制,另一部分是边界控制,边界参数自适应律被用于这个边界控制,根据稳定性理论,证明闭环系统的全局稳定性.最后对倒立摆系统进行了仿真,结果证明了该方法的有效性和可行性.
Aiming at a class of uncertain nonlinear systems, this paper proposes to introduce adaptive measures of biological individuals to the external environment into the indirect fuzzy adaptive control method. The method is characterized by the combination of active self-adaptability and fuzzy control of biological individuals, Ability of structural unit niche as the fuzzy rules after pieces.Based on the bionic fuzzy system, the state feedback biomimetic adaptive control algorithm is formed by Lyapunov synthesis method, the key problem is that the reconstruction error is bounded and the obtained system has a good approximation. Bionic control law is composed of two parts, one part is equivalent control, the other part is boundary control, the boundary parameter adaptive law is used for the boundary control, according to the stability theory, prove the global stability of the closed-loop system.Finally, the inverted pendulum system Simulation results show that the method is effective and feasible.