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Adaptive fuzzy output-feedback dynamic surface control of MIMO switched nonlinear systems with unknown gain signs

机译：增益符号未知的MIMO切换非线性系统的自适应模糊输出反馈动态表面控制

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摘要

This paper investigates the problem of adaptive fuzzy tracking control for a class of multi-input multi-output (MIMO) switched uncertain nonlinear systems with unknown gain signs and unmeasurable states. Fuzzy logic systems are used to approximate the unknown nonlinear functions, a fuzzy MIMO switched observer is designed to estimate the unmeasurable states. The Nussbaum type functions are utilized to handle the unknown gain signs of the system under study. A switched-dynamic-surface-based adaptive fuzzy control approach is then established by exploiting the average dwell time method and backstepping and the dynamic surface control technique, which constructs multiple switched first -order filters to overcome the multiple "explosion of complexity" problem when applying the backstepping recursive design scheme. Also, the proposed approach extends the classical dynamic surface control technique from its original non-switched nonlinear version to a switched nonlinear version. It is proved that all the signals in the closed -loop system are semiglobal uniformly ultimately boundedness under a class of switching signals with average dwell time, and the tracking errors converge to a small neighborhood of the origin. A mass spring damper system with controller switching as a practical example is provided to demonstrate the effectiveness of the proposed design method. (C) 2015 Elsevier B.V. All rights reserved.
机译：研究了一类具有未知增益符号和不可测状态的多输入多输出（MIMO）不确定非线性系统的自适应模糊跟踪控制问题。模糊逻辑系统用于近似未知的非线性函数，模糊MIMO切换观测器用于估计不可测量的状态。 Nussbaum类型函数用于处理正在研究的系统的未知增益符号。然后，通过利用平均停留时间方法，反推法和动态表面控制技术，建立了基于切换表面的自适应模糊控制方法，该方法构造了多个切换一阶滤波器来克服多重“复杂性爆炸”问题。应用backstepping递归设计方案。而且，所提出的方法将经典的动态表面控制技术从其原始的非开关非线性版本扩展到了开关非线性版本。证明在具有平均停留时间的一类切换信号下，闭环系统中的所有信号都是半全局一致的最终有界性，跟踪误差收敛到原点的一个小邻域。以控制器切换为例，提供了一种质量弹簧阻尼器系统，以证明所提出的设计方法的有效性。 （C）2015 Elsevier B.V.保留所有权利。

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