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Globally stable adaptive backstepping fuzzy control for output-feedback systems with unknown high-frequency gain sign

机译：高频增益符号未知的输出反馈系统的全局稳定自适应反步模糊控制

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摘要

This paper addresses the problem of globally stable adaptive backstepping output-feedback tracking control for a class of nonlinear systems with unknown high-frequency gain sign. The fuzzy systems are used as feedforward compensators to model some system functions depending on the reference signal. Thus, the global stability of closed-loop system can be guaranteed under the assumption that the unknown system functions are bounded by partly known nonlinear functions. The other advantage of the proposed control scheme is that the designer can determine the approximation domain a priori via the bound of the reference signal, which is very important for the choice of the centers and widths of membership functions. Moreover, the Nussbaum-type function is employed to deal with the unknown high-frequency gain sign. Two simulation examples are provided to illustrate the feasibility of control scheme presented in this paper.
机译：本文针对一类具有未知高频增益符号的非线性系统，解决了全局稳定的自适应反步输出-反馈跟踪控制问题。模糊系统用作前馈补偿器，根据参考信号对某些系统功能进行建模。因此，在未知系统功能受部分已知非线性函数限制的假设下，可以保证闭环系统的全局稳定性。所提出的控制方案的另一个优点是，设计人员可以通过参考信号的边界确定先验近似域，这对于选择隶属函数的中心和宽度非常重要。此外，Nussbaum型函数用于处理未知的高频增益符号。提供了两个仿真示例来说明本文提出的控制方案的可行性。

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