상태관측기를 이용한 미지의 비선형 시스템의 직접적응 퍼지제어

Abstract

본 논문에서 설계된 제어기는 상태관측기, 퍼지제어기 및 최대값 제어기로 구성되었으며, 빠른 시간내에 추적오차가 거의 0 으로 수렴하는것을 확인하였다. In this paper, a state observer based direct adaptive fuzzy controller for unknown nonlinear dynamical system is presented. The adaptive parameters of the direct adaptive fuzzy controller can be tuned by using a projection algorithm on-line based on the Lyapunov synthesis approach. A maximum control is used to guarantee the robustness of system. A stability analysis of the overall adaptive scheme is discussed based on the sense of Lyapunov. The inverted pendulum simulation example shows that proposed control algorithm can be used for the tracking problem of nonlinear system.