模糊系統的輸出追蹤控制及應用

Output Tracking Control for Fuzzy Systems and Its Applications

廖志傑(Jeih-Jang Liou)

指導教授 ： 練光祐

中原大學/工學院/電機工程研究所/博士(2006年)

https://doi.org/10.6840/cycu200600163

摘要

這篇論文主要探討模糊系統的輸出追蹤控制。採用此設計方法分成以下兩個獨立的步驟︰i)根據追蹤目標之輸出方程式和廣義動態的限制條件，求取其虛擬設計變數。ii)採用線性矩陣不等式(LMIs)的方法計算控制器增益，文中採用方法之線性矩陣不等式與一般穩定問題的方程式相同。接著針對前述的方法延伸一些系統模式和控制的問題。首先，將非線性系統表示成T-S模糊的模式，依據這類系統模式，模糊的估測器被設計來處理輸出追蹤問題。然而，有些物理系統對參數變化敏感，例如混沌系統。為此，針對混沌系統採用精確的模式(exact model)。在控制混沌系統時，提出以混合式控制器來降低控制力。當混合式控制器應用於非線性系統以致形成混合系統。進一步，討論如何將混合系統轉化成模糊系統，然後，以脈波寬度調整(PWM)的手法來實現控制混合系統。但採用脈波寬度調整手法容易產生控制輸入飽和的問題，因此，引進具有控制輸入之限制條件之模型預測控制來處理此問題。最後，模糊模型預測控制器用以處理輸出追蹤和含有輸入控制之限制條件。在數值模擬方面，我們使用非線性彈簧質量系統、直流對直流降壓型轉換器、感應電動機、Chua電路、跳躍機器人和Henon map為例，進一步證實理論的結果。

關鍵字

控制應用 ； 輸出追蹤 ； 模糊系統

並列摘要

This thesis presents the issue of developing output tracking control for fuzzy systems.
Our design procedure is split into two independent steps: i) to determine the virtual
desired variables from the desired output equation and the generalized kinematic constraint;
ii) to determine the control feedback gains by solving a set of LMIs, which is the
same type LMIs for stabilization problem. Then, the modelling and the controlling are
discussed. First, a general nonlinear system is expressed by the T-S fuzzy model. Based
on this model, fuzzy observer-based control design is proposed to deal with the output
tracking problem. However, some physical systems are sensitive to parameter variation,
for instance, chaotic system. Hence, the chaotic systems are adopted as the exact models.
For controlling chaotic systems, a hybrid-type of controllers to arrive at a low e ort is designed.
Hybrid systems are considered as the hybrid controllers are utilized for nonlinear
systems. So that, it is discussed how to obtain the fuzzy models from hybrid systems.
Then, PWM scheme control for hybrid systems are presented. The PWM scheme usually
imposes some constraints on the control input. Therefore, model predictive control is introduced
to cope with input constraints. Finally, output tracking control via fuzzy model
predictive control with input constraints is designed. For numerical simulations, we use
mass-spring systems, DC-DC buck converter, induction motor, Chua's circuit, a hopping
robot and the H enon map as examples to further verify the theoretical derivations.

並列關鍵字

fuzzy systems ； Output tracking ； Control application

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