具觀測器之Fuzzy與PID適應性控制器

Design of Observer-Based Fuzzy Adaptive Control and PID Adaptive Control for Nonlinear Systems

林建隆(Kian-Leong Lim)

指導教授 ： 姚立德

國立臺北科技大學/電資學院/電機工程系研究所/碩士(2012年)

https://doi.org/10.6841/NTUT.2012.00155

摘要

這項研究旨在設計兩個不同類型具觀測器之非線性適應性控制器：（一）FUZZY適應性控制器 、（二）PID適應性控制器。該兩項設計將加強非線性適應性控制系統追蹤指定路徑的能力。該研究首先針對非線性系統設計可適應時變參數的模糊適應性控制器，藉由設計可篩選適當模糊控制輸出的基因演算法，使誤差與系統參數得以通過Lyapunov 穩定性分析。為了消除無法預測與避免的控制障礙，該研究也藉由設計監督控制器縮小模糊控制器的誤差範圍，強化模糊控制輸出穩定性使無法預期因素不影響系統穩定。另外也設計一個追加補償器來消減建模誤差和干擾影響。第二項研究採用PID適應性控制器，藉由該控制器維持系統誤差範圍Lyapunov 穩定。該設計採用梯度投影演算法調整PID參數使系統達到最佳控制狀態再由e-適應性演算法使誤差範圍趨近於零。

關鍵字

非線性適應性控制 ； 基因演算法 ； 模糊適應性控制 ； PID適應性控制 ； 梯度投影演算法 ； e-適應性演算法

並列摘要

The aim of this research is to develop two different kinds of observer-based adaptive control scheme. The adaptive control scheme is designed for tracking the trajectory of a nonlinear system. In the first scheme, a fuzzy adaptive controller is designed to adapt its parameters to time-varying nature of the nonlinear system. The online adaptation of the fuzzy parameters is performed by Genetic Algorithm. Its fitness function is obtained through Lyapunov stability analysis. A supervisory controller is added to the fuzzy logic system to reduce the margin of error arising from uncertainties unaccounted for. A compensator is appended to compensate for modeling error and disturbance. In the second scheme, an adaptive PID controller has been designed using adaptation laws. Adaptation of PID parameters is via the gradient projection algorithm. A robust controller is added to compensate for modeling error and disturbance. Adaptation of the robust controller is through e-modification algorithm. Stability analyses and simulations are performed to show that all system states and control parameters are bounded and the tracking error is uniformly bounded near the origin.

並列關鍵字

Lyapunov Direct Adaptive Control ； Observer Based Adaptive Fuzzy Control ； Observer Based Adaptive PID Control ； Observer Based Output Feedback Control ； Micro Genetic Algorithm ； Gradient Projection Algorithm ； e-Modification Algorithm

參考文獻

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