針對具時間延遲之未定性非線性系統設計模糊模式參考適應控制器

The Design of Fuzzy Model Reference Adaptive Controller for a Class of Uncertain Nonlinear Systems with Time-Delay

呂冠生(Kuan-Sheng Lu)

指導教授 ： 游文雄

大同大學/電機資訊學院/電機工程學系所/碩士(2005年)

摘要

在本篇論文中,我們將針對具有時間延遲的連續時間多輸入多輸出非線性系統,設計一個模糊參考模型之適應控制器。
這裡所提出的適應方法是使用 Takagi-Seguno 模糊比例積分適應方法,來獲得較快的參數更新以提供更快的的追蹤誤差收斂。
本文基於李雅普諾夫定理來分析這裡所提出的的強健適應控制法則之穩定性。
本篇所提出的模糊模式做參考之適應控制透過學習如何控制具有時間延遲非線性的系統,即便受到外部擾動及參數的變化,仍可提供一個有界的內部訊號並完成參考模型的漸近追蹤目的。
最後, 為了展現本文所提出控制器的性能,我們將以一個 2 DOF parallel robot 作為受控系統來說明成效。

關鍵字

時間延遲 ； 模糊參考模型 ； 適應控制

並列摘要

In this thesis, we propose a fuzzy model reference adaptive control (FMRAC) scheme for continuous-time multiple-input-multiple-output (MIMO) nonlinear systems with time delay.
The proposed FMRAC scheme uses a Takagi-Seguno (TS) fuzzy proportional-integral adaptive system to obtain fast parameters adaptation and fast convergence of the tracking error.
It is shown that the stability and robustness of the control system is guaranteed in the Lyapunov sense.
In this thesis, the proposed FMRAC can control the time-delay nonlinear plant through learning, provides for bounded internal, and achieves asymptotic tracking of a stable reference model, even when the plant is subject to external disturbances and parameters variations.
Finally, an 2 DOF parallel robot control problems subject to uncertainties and external disturbances is simulated to demonstrate the validity of the proposed scheme.

並列關鍵字

adaptive ； fuzzy

參考文獻

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