Adaptive Decomposition Fuzzy Control for Uncertain Mechanical Systems
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摘要: 为了保证系统较高的控制精度，就必须提高模糊系统的逼近精度，但其所需的大量的模糊规则会造成控制系统计算负担过重，不能满足实时性要求。为此，本文针对不确定机械系统的控制问题，设计了一种分解模糊系统用于系统中不确定函数的逼近和补偿，在此基础上针对不确定系统设计了鲁棒自适应控制律对非线性系统进行轨迹跟踪控制。仿真实验证明，本文设计的自适应分解模糊控制不但能对机械系统的未知部分进行实时补偿，并且比传统自适应模糊控制的控制精度更高，误差收敛更快，更有利于实时控制。Abstract: In order to improve the control precision of the system, it is necessary to improve the approximation accuracy of the fuzzy system, so a large number of fuzzy rules are needed. A large number of fuzzy rules will cause overburden of control system calculation and can not meet the requirement of real time control. In this paper, a new decomposition fuzzy system is used to compensate the uncertain of mechanical system, and a robust adaptive control law is designed to control the trajectory of the system. The simulation results show that, the adaptive decomposition fuzzy control designed in this paper can not only compensate for the unknown part of the mechanical system in real time, but also has higher control accuracy, faster convergence and faster real-time control than the traditional adaptive fuzzy control.
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Key words:
- mechanical /
- uncertain systems /
- fuzzy control /
- decomposition /
- adaptive control
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