具有一個未知截止區的不確定非線性系統之適應模糊模式化控制

本論文針對具有未知截止區的一些不確定非線性系統，提出一個強健適應模糊控制方法。由於截止區的特徵在致動器中是相當容易發生的，例如電子伺服電動機、水力伺服活門和氣動活門；因此，根據使用截止區的定義敘述，直覺地並且以數學的描述去探索截止區模型的特性，在沒有建立截止區反函數的情況下，提出一套強健適應模糊控制器之設計法則。藉由適應模糊的方法去近似受控系統中未知的非線性函數，並且基於李亞普諾夫穩定定理及可變結構控制理論，本論文將提出強健適應模糊滑動模式控制法則，不僅可以確保整個閉迴路系統在致動器中產生截止現象的情況下之穩定性，同時可以讓非線性系統的輸出能夠有效地追蹤所指定的參考信號，以便獲得良好的追蹤性能。最後，對於所提出之控制器設計方法，本論文將以例題和電腦模擬結果來說明並驗證其有效性。

關鍵字

可變結構控制；李亞普諾夫穩定定理；強健適應模糊控制；截止區；非線性系統

並列摘要

In this thesis, a robust adaptive fuzzy control scheme is proposed for a class of uncertain nonlinear systems preceded by an unknown dead-zone. Dead-zone characteristics are quite commonly encountered in actuators, such as hydraulic and pneumatic valves, electric servomotors, and electronic circuits, etc. Therefore, by using a description of a dead-zone and exploring the properties of this dead-zone model intuitively and mathematically, a robust adaptive fuzzy control method is presented without constructing the dead-zone inverse. The unknown nonlinear functions of the plant are approximated by the fuzzy logic system according to some adaptive laws. Based on Lyapunov stability theorem and the theory of variable structure control, the proposed robust adaptive fuzzy sliding mode control scheme can guarantee the robust stability of the whole closed-loop system with an unknown dead-zone in the actuator and obtain good tracking performance as well. Finally, some examples and simulation results are provided to illustrate the versatility and performance of the proposed method.

並列關鍵字

dead-zone ； Lyapunov stability theorem ； nonlinear system ； robust adaptive fuzzy control ； variable structure control

參考文獻

TABLES OF CONTENTS

2 PROBLEM STATEMENT AND PRELIMINARIES.................................4

3 CONTROLLER DESIGN AND STABILITY ANALYSIS.........................9

3.2 Robust Adaptive Fuzzy Sliding Mode Control Design..........................18

4.1.2 Case 2: Robust Adaptive Fuzzy Sliding Mode Control

國際替代計量

具有一個未知截止區的不確定非線性系統之適應模糊模式化控制

未授權

主題瀏覽