基於T-S模糊控制與灰色理論之自走車軌跡追蹤

Mobile Car Path Tracking Based on T-S Fuzzy Control and Grey Theorem

陳韋存(Wei-Tsun Chen)

指導教授 ： 邱謙松

中原大學/工學院/電機工程研究所/碩士(2010年)

https://doi.org/10.6840/cycu201000867

摘要

本論文是利用T-S模糊控制理論與灰色理論來達到自走車路徑追蹤之目的。首先，將自走車的模型表示成T-S模糊模型，由IF-THEN的規則關係表達其局部動態行為，使得非線性系統可以用線性子系統來表示，因而我們可針對此模型設計模糊觀測器與追蹤控制器。另外在T-S模糊路徑追蹤控制器中加入灰色擾動估測器與控制力預測器修正，可明顯改善追蹤響應之速度。最後以數值模擬驗證其結果。

關鍵字

灰色理論 ； T-S模糊理論 ； 軌跡追蹤 ； 自走車 ； 參數不確定 ； 強健性

並列摘要

In this thesis, we use T-S fuzzy control theory and grey theory for the purpose of mobile car path tracking. First, the model of mobile car is represented in T-S fuzzy model by using the IF-THEN rules. As a result, the nonlinear system can be expressed by a combination linear subsystems. Furthermore, we can design fuzzy observer and path tracking controller for the system. Moreover, the tracking response is improved obviously with grey disturbance observer and control force predictor. Finally, the numerical simulations are used to show the expected results.

並列關鍵字

uncertainty ； robustness ； path tracking. ； mobile car ； Grey theorem ； T-S Fuzzy theorem

參考文獻

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