Command Filtering-Based Fuzzy Control for Nonlinear Systems With Saturation Input
针对不确定多输入多输出非线性系统，提出一种命令滤波模糊控制方法，解决虚拟控制器求导导致的复杂度爆炸问题，并引入误差补偿机制，保证系统信号有界。
In this paper, command filtering-based fuzzy control is designed for uncertain multi-input multioutput (MIMO) nonlinear systems with saturation nonlinearity input. First, the command filtering method is employed to deal with the explosion of complexity caused by the derivative of virtual controllers. Then, fuzzy logic systems are utilized to approximate the nonlinear functions of MIMO systems. Furthermore, error compensation mechanism is introduced to overcome the drawback of the dynamics surface approach. The developed method will guarantee all signals of the systems are bounded. The effectiveness and advantages of the theoretic result are obtained by a simulation example.