Fuzzy Adaptive Control Design and Discretization for a Class of Nonlinear Uncertain Systems
针对一类下三角形式的不确定非线性系统，提出了一种基于自适应反步法和模糊逻辑的连续与离散跟踪控制器，通过构造单个最大自适应参数减少计算量，并处理了非对称死区，仿真验证了有效性。
In this paper, tracking control problems are investigated for a class of uncertain nonlinear systems in lower triangular form. First, a state-feedback controller is designed by using adaptive backstepping technique and the universal approximation ability of fuzzy logic systems. During the design procedure, a developed method with less computation is proposed by constructing one maximum adaptive parameter. Furthermore, adaptive controllers with nonsymmetric dead-zone are also designed for the systems. Then, a sampled-data control scheme is presented to discretize the obtained continuous-time controller by using the forward Euler method. It is shown that both proposed continuous and discrete controllers can ensure that the system output tracks the target signal with a small bounded error and the other closed-loop signals remain bounded. Two simulation examples are presented to verify the effectiveness and applicability of the proposed new design techniques.