以T-S模糊模型為基礎之適應性T-S模糊順滑追蹤控制器於非線性系統

Adaptive T-S fuzzy sliding mode tracking control based on T-S fuzzy modeling for nonlinear system

李柏勳(Bo_Xun Lee)

指導教授 ： 陳金聖

國立臺北科技大學/機電學院/自動化科技研究所/碩士(2010年)

https://doi.org/10.6841/NTUT.2010.00404

摘要

本論文針對非線性系統追蹤問題提出ㄧT-S模糊順滑適應性追蹤控制器(TSAC)與T-S模糊參考模型適應性控制器(TMRAC)之串連架構；面對非線性系統利用T-S模糊模式對參考模型設計T-S追蹤控制器；然而，參考模型與真實模型存在參數不確定性與干擾，為要解決此問題，以T-S追蹤控制器為基礎，加入順滑適應性控制，使系統在參數不確定性與干擾仍然穩定，接著串聯T-S模糊參考模型適應性控制器(TMRAC)來使真實模型逼近參考模型，如此一來可加快系統的收斂速度。設計此控制器包含三個步驟，第一步：利用Lagrange方程式推導系統的參考模型動態方程式。第二步：利用參考模型來進行T-S模糊順滑適應性追蹤控制器的設計並分析系統穩定性。第三步：設計T-S參考模型適應性控制器並分析真實模型與參考模型收斂性。

關鍵字

T-S模糊追蹤控制器 ； 適應性控制 ； 順滑控制 ； 參考模型適應性控制器 ； Lagrange

並列摘要

In this thesis, we propose a synthetic controller including a T-S fuzzy sliding adaptive tracking controller (TSAC) and a T-S fuzzy model reference adaptive controller (TMRAC) for nonlinear system. To tackle this nonlinear system, a T-S fuzzy controller is designed to aim at the reference model. As the real model is not the same as the reference model, to solve this problem, the T-S fuzzy sliding adaptive tracking controller is designed based on this T-S fuzzy tracking controller. Thus, the TSAC can stabilize this nonlinear system that has uncertainty and disturbance. Then, the TSAC cascade a TMRAC to let the reference model approach to real model. The design procedure of the proposed controller has three steps; firstly, the dynamic equation of the reference model is derived with Lagrange equation. Secondly, the TSAC is designed based on this reference model and the stability of the system is also analyzed. And, the lastly, the MRAC is designed to compensate the difference between the real and reference model. The tracking performance of this proposed synthetic controller is better than traditional T-S fuzzy tracking controller by verification in an eccentric mechanism.

並列關鍵字

T-S fuzzy tracking control ； Sliding mod control ； Adaptive Control ； Model reference adative control ； Lagrange

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