Adaptive fuzzy PD control with stable H-infinity tracking guarantee

作者：Pan, Yongping; Er, Meng Joo; Sun, Tairen; Xu, Bin; Yu, Haoyong^*

来源：Neurocomputing, 2017, 237: 71-78.

DOI：10.1016/j.neucom.2016.08.091

• Adaptive control
• Disturbance
• Neuro-fuzzy system
• H-infinity tracking
• Nonlinear system
• Uncertainty

For indirect adaptive fuzzy H-infinity tracking control (AFHC) of perturbed uncertain nonlinear systems, sliding mode control (SMC) Compensation usually has to be applied to ensure Stability and H-infinity robustness of the closed-loop system. We prove that indirect AFHC without SMC compensation is sufficient to guarantee stable H-infinity tracking under given initial conditions and parameter constraints. The control structure only includes an indirect adaptive fuzzy control term and a proportional derivative (PD) control term. A certainty equivalent control law is slightly modified such that both a lumped perturbation and adaptive laws are independent of the PD control term. This Modification is significant since it not only plays a key role in stability analysis, but also alleviates some drawbacks of existing AFHC approaches for practical applications. An illustrative example has been provided to verify correctness of the theoretical result.

• 出版日期2017-5-10
• 单位南阳理工学院; 江苏大学; 西北工业大学