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Jing Zhao Zhixiong Zhong Chih-Min Lin Hak-Keung Lam 《Journal of The Franklin Institute》2021,358(1):650-673
This paper studies the tracking control for uncertain nonlinear multivariable systems. We propose a control strategy, which combines the adaptive wavelet-type Takagi-Sugeno-Kang (TSK) fuzzy brain emotional learning controller (WTFBELC) and the robust tracking compensator. As for the adaptive WTFBELC, it is a main controller designed to mimic the ideal controller. The proposed WTFBELC is to obtain much better ability of handling nonlinearities and uncertainties, but the proposed robust tracking compensator is to compensate the residual error between the adaptive WTFBELC and the ideal controller. Furthermore, the optimal learning rates of the adaptive WTFBELC are searched quickly by using the particle swarm optimization (PSO) algorithm, and the parameter updated laws are derived based on the steepest descent gradient method. The robust tracking performance of this novel control scheme is guaranteed based on Lyapunov stability theory. The mass-spring-damper mechanical system and the three-link robot manipulator, are used to verify the effectiveness of the proposed adaptive PSO-WTFBELC control scheme. 相似文献
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《Journal of The Franklin Institute》2023,360(6):4247-4271
This paper addresses the hybrid anti-bump control for switched nonlinear systems with event-triggering via the interval type-2 (IT2) fuzzy model. A unified framework of anti-bump performance for switched nonlinear systems called hybrid anti-bump performance is established to attenuate sudden big hybrid bumps caused by both triggering and switching. Then, we design a sampled-data-based switching strategy, under which we only need to check the switching conditions at discrete sampling instants. By using the multiple Lyapunov–Krasovskii functional theory and the constructed switching law, sufficient conditions are made for the considered systems to be asymptotically stable with both performance and hybrid anti-bump performance. Moreover, the switching law, the event-triggered scheme, and the event-triggered controllers are jointly designed. Finally, an electro-hydraulic model is exploited to verify the applicability and effectiveness of our method. 相似文献
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