- 學位論文
針對具有多重時間延遲的未定模糊系統之適應強健控制器設計
ADAPTIVE ROBUST CONTROLLER FOR UNCERTAIN FUZZY SYSTEMS WITH MULTIPLE TIME DELAYS
摘要
在本篇論文中，我們係針對一模糊系統，其具有多重時間延遲狀態擾動、時變未定參數、及外部干擾，研究其強健穩定性的問題。 我們也假定時間延遲狀態擾動、時變未定參數、及外部干擾在模糊系統中為任何未定有界的連續函數，且其上界為未知。 我們將提出一種具有 σ 修正之改良型的適應法則來估測未知有界函數的邊界，並在更新這些未知邊界值的同時，設計一連續不具記憶性之狀態迴授控制器來達成閉迴路系統之強健穩定。 在多重時間延遲狀態擾動、時變未定參數、及外部干擾的情況下，使用我們所提出的適應強健控制器，在李亞普諾夫的條件下，當可保證系統狀態可逐漸的收斂到零。 此外，我們可以知道 σ 修正之改良型適應法則可以被應用在一般的適應控制問題來獲得一些更精確的控制結果。 最後我們以倒單擺例子來驗證我們所提出的控制法則的成效。
並列摘要
In this thesis, we consider the stability robustness for fuzzy systems with multiple delayed state perturbations, time-varying uncertain parameters, and disturbances. These delayed state perturbations, uncertainties, and external disturbances in the fuzzy systems are assumed to be any uncertain bounded but unknown continuous functions. An improved adaptation law with σ-modification is proposed to estimate such unknown bounds, and on the basis of the updated values of these unknown bounds, a continuous memoryless state feedback controller is constructed for achieving robust stability of the closed-loop system. Based on Lyapunov stability theorem, the proposed adaptive robust controller can guarantee that the state converges asymptotically to zero in the presence of multiple delayed state perturbations, time-varying uncertain parameters, and disturbance. In addition, it is also shown that this improved adaptation law with σ-modification can be applied to the general adaptive control problems to obtain some more exact control results. Finally, an inverted pendulum system is given to demonstrate the validity of the proposed design method.