基於觀測器之適應性模糊控制器設計應用於多輸入多輸出非線性非仿射系統

本論文提出了基於觀測器之適應性模糊控制器(fuzzy adaptive control)應用於多輸入多輸出非線性非仿射(non-affine)系統之追蹤控制，在此考慮系統包含不確定項及系統狀態微分項無法被量測。本文提出的方法結合了動態模糊邏輯系統和非線性觀測器來處理多輸入多輸出非線性非仿射系統的控制問題，首先將非線性非仿射系統轉換成含輸入訊號之嚴格回授(strict-feedback)之類仿射系統(affine-like)型態，接著我們利用動態模糊邏輯系統估測未知函數，加上非線性觀測器估測無法測量的狀態，進而設計出基於觀測器之適應性模糊控制架構。並且藉由李亞普諾夫定理推導，可獲得動態模糊邏輯系統的適應法則並保證系統之穩定。最後，我們將提出的方法應用在雙輸入雙輸出系統和雙軸的機械手臂上之追蹤控制。此外，我們將我們的控制法利用DSP實現在雙軸的機械手臂上。並且利用模擬及實作結果說明我們所提出方法的效能。

關鍵字

非線性非仿射系統；觀測器；適應性控制；李亞普諾夫定理；模糊系統

並列摘要

In this thesis, we propose an observer-based fuzzy adaptive control scheme for a class of multiple-input-multiple-output (MIMO) nonlinear non-affine systems. The system has uncertainty and unknown state derivative. The proposed approach combines the dynamic fuzzy logic system (DFLS) and nonlinear observer to deal with the tracking control problem of MIMO nonlinear non-affine system. At first, the nonlinear non-affine system is transferred to a strict-feedback affine-like form. Then, we adopt the DFLS to approximate the nonlinear unknown functions and the observer is used to estimate the unmeasured states. Based on the Lyapunov approach, the adaptive laws of DFLS are obtained and the stability of the closed-loop system is guaranteed. Finally, our approach is applied in tracking control of a two-input-two-output system and two-link robot manipulators system. In addition, we implement our control method on DSP to control the two links robot manipulators. Simulation and experimental results are introduced to illustrate the effectiveness of our approach.

並列關鍵字

fuzzy system ； Nonlinear non-affine systems ； observer ； adaptive control ； Lyapunov theorem

參考文獻

[1] A. Abdessameeud and M. F. Khelfi, “A variable steructure for the control of robot manipulators” Int. Journal Application Math. Comput. Sciences, Vol. 16, No. 2, pp. 189-196, 2006.

[2] A. R. Angeles and H. Nijmeijer, “Mutual synchronization of robots via estimated state feedback: a cooperative approach,” IEEE Trans. on Control Systems Technology, Vol. 12, No. 4, pp. 542-554, 2004.

[3] A. J. Calise, N. Hovakimyan, and M. Idan, “Adaptive output feedback control of nonlinear systems using neural networks,” Automatica, Vol. 37, pp. 1201-1211, 2001.

[4] B. Chen, X. Liu, and S. Tong, “Adaptive fuzzy output tracking control of MIMO nonlinear uncertain systems,” IEEE Trans. on Fuzzy Systems, Vol. 15, No. 2, pp. 287-300, 2007.

[5] Y. C. Chen and C. C. Teng, “A model reference control structure using a fuzzy neural network,” Fuzzy Sets and Systems, Vol. 73, pp. 291-312, 1995.

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基於觀測器之適應性模糊控制器設計應用於多輸入多輸出非線性非仿射系統

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