Robust Controller Design for Uncertain Nonlinear Systems via Adaptive Fuzzy PID Approach
The robust design problem of proportional-plus-integral-plus-derivative controller for uncertain nonlinear systems is studied in this paper. A novel adaptive fuzzy control scheme is developed to design an adaptive controller for the robust stabilization of uncertain nonlinear systems. A numerically tractable algorithm based on the technique of linear matrix inequalities is used to approximate the single input single output nonlinear systems. Adaptive control approaches claim to adapt system parameters against uncertainties. A robust control compensator is derived to offset the effect of uncertainties. It can be shown that the effect of the external disturbance on the tracking error can be attenuated to prescribed level and then the tracking control performance is achieved. Application of the proposed method to a second-order inverted pendulum system demonstrates the effectiveness of the proposed approach. Theory has proved that the algorithm of on-line self-adjusting by means of altering the fuzzy rules basis made the control system stable globally and then the tracking control has been achieved.
Fuzzy Control Robust Control Uncertain System PID Control
ZHANG Tieyan ZHAO Yan ZHANG Xiaohui ZHAO Dan
Department of Automatic Control Engineering, Shenyang Institute of Engineering, Shenyang 110136
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
2771-2774
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）