Disturbance Observer Based Composite Learning Fuzzy Control of Nonlinear Systems with Unknown Dead Zone
针对一类带有未知死区的不确定非线性系统，提出一种基于扰动观测器的复合学习模糊控制方法，通过模糊系统和串并联辨识器逼近非线性，利用扰动观测器估计复合扰动，实现更快的收敛和更高的控制精度。
This paper investigates the disturbance observer-based composite fuzzy control of a class of uncertain nonlinear systems with unknown dead zone. With fuzzy logic system approximating the unknown nonlinearities, composite learning is constructed on the basis of a serial–parallel identifier. By introducing the intermediate signal, the disturbance observer is developed to provide efficient learning of the compounded disturbance which includes the effect of time-varying disturbance, fuzzy approximation error, and unknown dead zone. Based on the disturbance estimation and fuzzy approximation, the adaptive fuzzy controller is synthesized with novel updating law. The stability analysis of the closed-loop system is rigorously established via Lyapunov approach. The performance of the proposed controller is verified via simulation that faster convergence and higher precision are obtained.