| The essence thought of the conventional T-S adaptive fuzzy controller ispiecewise linear approximation. The output in every rule is the linear combination ofinput variable. Since all of the consequent parameters needed to be on-line adjusted,the simulation velocity is slow and the realization is difficult. The article proposes anew variable universe fuzzy controller, which can continently adjust the size ofuniverse according to the change of error by on-line tuning the contraction andexpansion factor. Fuzzy rule are dynamically tuned. The control precise is improved.In the paper, a supervise controller is designed to guarantee system stability. Theresulting system is expected to show better performance. If the variable universefuzzy controller works well, the supervisory controller is idle. If the system trends tounstable, the supervisory controller begins to work. All signals involved are bounded;the performance in transient and steady is improved.The variable universe fuzzy controller is combined with H_∞ controller, whichprovide robotic control with intelligence and improve fuzzy control robotic. Thestability is given by Lyapunov function. The proposed algorithm can attenuate theeffect of approximate error and external disturbance on tracking error to given lever ρby selecting weight factor r .In article, the simulation results of chaotic systems are given to confirm theproposed control algorithm is reasonable to practical application. |
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