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板球系统的间接模糊自适应控制

DOI: 10.13195/j.kzyjc.2013.1768, PP. 303-310

Keywords: 板球系统,间接型模糊自适应,Lyapunov,稳定性,轨迹跟踪控制

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Abstract:

针对具有强耦合、不确定摩擦力的多变量非线性板球系统,利用Lyapunov稳定理论,设计一种间接模糊自适应控制器.该控制器可以在确保系统变量在有限范围内变动的同时保持收敛性,并且在系统的增益矩阵不可逆时,使得板球系统稳定并跟踪误差收敛到零邻域内.控制器是由监督、间接模糊自适应和自适应补偿3种控制算法结合的.仿真实验表明,所提出的控制方法能够确保板球系统跟踪控制的稳定性和收敛性.

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