具輸入時間延遲系統之T-S模糊控制

T-S Fuzzy Control of Input-time-delay Systems

陳佑瑾(You-Jin Chen)

指導教授 ： 邱謙松

中原大學/工學院/電機工程研究所/碩士(2014年)

https://doi.org/10.6840/cycu201400911

摘要

本論文主要探討具有輸入時間延遲的不確定T-S模糊系統的控制器設計問題。首先，將非線性系統用T-S模糊規則表示，接著提出加入誤差積分狀態及輸入積分狀態的控制概念，並考慮時間延遲項及不確定項，以此建立擴增型的T-S模糊模型。同時使用Lyapunov-Krasovskii方法獲得保證穩定化的增益條件，穩定條件亦轉換為線性矩陣不等式(Linear Matrix Inequalities，LMIs)，再藉由Matlab數值分析軟體計算獲得控制器增益。本論文將利用倒單擺系統進行驗證，經由模擬及實作結果顯示，所提出的控制器具有良好的響應與性能。

關鍵字

倒單擺 ； 時間延遲 ； T-S模糊控制

並列摘要

This thesis presents the T-S fuzzy controller design for input-time-delay uncertain systems. First, nonlinear time-delay systems are represented by the T-S fuzzy model. Consider error integral and input integral, the extended T-S fuzzy model is constructed without input-delay. Then, we use the Lyapunov-Krasovskii method to obtain the stability conditions and transform to the Linear Matrix Inequalities (LMIs). Finally, controller gains can be solved by using Matlab LMI toolbox. In this thesis, the inverted cart-pendulum system is taken as the application example to verify control performance. Simulation and experimental results show the control effectiveness. Finally, some conclusions are given.

並列關鍵字

T-S fuzzy control ； time-delay ； inverted cart-pendulum

參考文獻

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