針對具有狀態及輸入時間延遲的不確定非線性系統之模糊模式為基礎的控制器設計

DESIGN OF FUZZY-MODEL-BASED CONTROLLER FOR UNCERTAIN NONLINEAR SYSTEMS WITH STATE AND INPUT DELAYS

李宗翰(Tsung-han Lee)

指導教授 ： 江江盛教授

大同大學/電機資訊學院/電機工程學系所/碩士(2005年)

摘要

本論文主要是探討不確定非線性系統在同時具有狀態和輸入時間延遲的情況下的控制器設計問題；其中，不確定項的假設是時變且有界的。眾所週知，時間延遲和不確定項是普遍存在於許多實際的控制系統，而且容易造成系統的不穩定。根據李亞普諾夫定理和函數分析的觀念，本論文提出兩種不同的強健控制器設計方法。由於T-S模糊模型是結合模糊集合和模糊推論能夠有效的來表示複雜的非線性系統，因此，本論文首先利用可變結構控制理論，提出一個模糊滑動模式控制器，其滑動面的選取是以積分型式來表示，可以消除系統的穩態誤差。接著，當不確定項滿足特定結構限制時，本論文藉由矩陣不等式的技巧，提出另一個強健模糊控制器，來確保具有不確定項和時間延遲的整個閉迴路系統之穩定度。最後，提出一些例子和模擬的結果來證明我們所提出的控制器的適用性。

關鍵字

滑動模式控制器

並列摘要

In this thesis, the control design problem of a class of nonlinear systems with state and input delays in the presence of unmatched parametric uncertainties is investigated. The uncertainties are time-varying and bounded. It is well-known that the existence of time delays and uncertainties is common in various engineering systems. Based on the Lyapunov stability theorem and the concept of functional analysis, two different design methods are proposed in this thesis for the robust control of the above-mentioned uncertain nonlinear systems. T-S fuzzy models give an effective method to represent complex nonlinear systems by fuzzy sets and fuzzy reasoning. First, based on variable structure control, a fuzzy sliding mode controller with an integral function is designed to eliminate the steady-state error. Next, while the time-varying uncertainties satisfy some structure constrains, another robust fuzzy controller in terms of linear matrix inequalities (LMIs) is presented to guarantee the stability of the whole closed-loop systems with time delays and uncertainties. Finally, several examples and simulation results are performed in support of the suggested control schemes.

並列關鍵字

slinding mode control

參考文獻

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[2] S. C. Qu and Y. J. Wang, ” Sliding mode control for a class of uncertain input-delay systems,” Proc. of the 5th World Congress on Intelligent Control and Automation, Vol.2, pp. 1184-1186, 2004.

[3] Y. H. Roh and J. H. Oh, “Sliding mode control with delay compensation for uncertain input-delay systems,” Proc. of the American Control Conference, Vol. 1, pp. 309-313, 1999.

[4] Y. Y. Cao, Y. X. Sun, and J. Lam, “Delay-dependent robust H∞ control for uncertain systems with time-varying delays,” IEE Proc.-Control Theory Appl., Vol. 3, pp. 338-344, 1998.

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