Robust Adaptive Fuzzy Tracking Control for Uncertain MIMO Nonlinear Nonminimum Phase System
针对参数不确定和未建模动态导致内部动力学不稳定的多输入多输出非线性非最小相位系统，提出基于理想内部动力学的鲁棒自适应模糊控制器，并通过垂直起降飞机仿真验证有效性。
Parameter uncertainty and unmodeled dynamics are inevitable for an actual nonlinear system, and are hard to deal with in control design, especially when the internal dynamics of this nonlinear system are unstable. The control design for a multiinput multioutput nonlinear nonminimum phase system with parameter uncertainty and unmodeled dynamics is discussed in this paper. The internal dynamics of nonminimum phase system are unstable, the control of this kind of system is challenging. Ideal internal dynamics (IID) based controller design method are utilized here, and a partially linearized model is constructed. A state tracking model is constructed on account of the partially linearized model and IID. Then the robust fuzzy controller design problem is discussed and a fuzzy logical system is utilized to identify the parameter uncertainty and unmodeled dynamics. A robust adaptive fuzzy controller is proposed for the stability of the nonlinear nonminimum phase system with parameter uncertainty and unmodeled dynamics. Finally, by simulations on vertical takeoff and landing aircraft, the availability of the presented adaptive fuzzy controller is validated.