非線性網路控制系統之輸出迴授控制:區間二型多項式模糊法

此篇碩論研究區間二型多項式模糊控制器對於非線性網路控制系統的有效性，將數據丟包、時間延遲、外部干擾、模型不確定性納入網路控制系統的性能考量。在控制器的設計中，為解決內部狀態難以估測的問題，將提出一個應用於網路控制系統的輸出迴授區間二型多項式模糊控制器。本文將利用Lyapunov-Krasovskii泛函數來推導SOS型式的強健穩定條件，前鑑部則使用區間二型模糊集合的上界與下界來建構歸屬函數，並使用多項式狀態矩陣，進而減少模糊規則數。最後利用寬鬆化的穩定條件擴展解空間，使穩定條件能有更大的機會找到性能更佳的解。接著接著進行電腦模擬，來驗證提出的區間二型多項式輸出迴授模糊控制器應用於網路控制時，相較於一型多項式模糊控制器的優勢與有效性。最後，使用網際網路操控一輪型機器人，經由網際網路來實現本文所提出的理論。

關鍵字

區間二型多項式模糊；網路控制系統；輸出迴授控制；強健穩定

並列摘要

This thesis investigates the effectiveness of using an interval type-2 (IT2) polynomial fuzzy control approach for designing output feedback networked control systems (NCSs) when package dropout, time delay, external disturbance, model uncertainties are considered simultaneously. In the process of controller design, the model uncertainties are modified in IT2 fuzzy sets with upper-bound and lower-bound membership functions, and the H∞ performance index is introduced to address the problem of disturbance rejection. Moreover, package dropout and time delays can be mitigated by applying the proposed IT2 sum-of-squares (SOS)-based robust conditions derived from the Lyapunov–Krasovskii functional. In addition, this thesis proposes additional relaxed SOS stability conditions for increasing the number of feasible solutions. The simulation results demonstrate that the proposed IT2 polynomial fuzzy approach outperforms the type-1 polynomial fuzzy approach. Finally, a wireless wheel mobile robot was controlled via internet to verify the proposed theorem.

並列關鍵字

interval type-2 polynomial fuzzy system ； networked control systems ； robust stability condition ； sum-of-square

參考文獻

[1] H. Beikzadeh, H. J. Marquez, “Multirate output feedback control of nonlinear networked control systems” IEEE Trans. Autom. Control, vol.60, no.7, pp. 1939-1944, Jul.2015.

[2] M. A. Khanesar, O. Kaynak, S. Yin, H. Gao, “Adaptive indirect fuzzy sliding mode controller for networked control systems subject to time-varying network-induced time delay” IEEE Trans. Fuzzy. Syst, vol.23, no.1, pp. 205-214, Feb.2015.

[3] M. Razeghi-Jahromi, A. Seyedi, “Stabilization of networked control systems with sparse observer-controller networks” IEEE Trans. Autom. Control, vol.60, no.6, pp. 1686-1691, Jun.2015.

[4] D. Q. Truing, K. K. Ahn, “Robust variable sampling period control for networked control systems” IEEE Trans. Ind. Electronnics, vol. 62, no. 9, pp. 5630-5643, Sept. 2015.

[5] X. L. Luan, P. Shi, and F. Liu, “Stabilization of networked control systems with random delays,” IEEE Trans. Ind. Electron., vol. 58, no. 9, pp. 4323-4330, Sept. 2011.

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非線性網路控制系統之輸出迴授控制:區間二型多項式模糊法

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