未知非線性系統之類神經適應定期滑動模式控制器設計

DESIGN OF THE NEURO-ADAPTIVE TERMINAL SLIDING MODE CONTROLLER FOR THE UNKNOWN NONLINEAR SYSTEMS

邱郁翔(Yu-Hsiang Chiu)

指導教授 ： 龔宗鈞

大同大學/電機資訊學院/電機工程學系所/碩士(2005年)

摘要

本論文中，吾人對於未知之非線性系統提出輔以類神經網路機制的適應定期滑動模式控制器。此控制器結合適應定期滑動模式控制器與類神經網路控制器，定期滑動模式控制器用以抑制受控系統的參數變動、不確定性和干擾，以及提供系統狀態在有限時間收斂的特性；類神經網路控制器則可以藉由加權參數的自我修正來估測及模擬因為未知的受控場而無法得知的等效控制力。最後根據Lyapunov穩定性分析，提出調整適應終端滑動模式控制器參數的法則。
接著吾人比較系統在定期滑動模式與一般滑動模式的系統響應，將控制器之定期滑動模式部份改為一般滑動模式，稱為類神經適應滑動模式控制器。且將此兩種控制器應用於具有雜訊干擾的數值非線性系統和倒單擺系統之控制，模擬的結果可以證明提出的控制方法具有強健性及消除外在擾動的特性，且類神經適應定期滑動模式控制器具有較佳的系統響應。
最後，根據選擇不同的定期滑動面之參數，模擬的結果展示了不同的狀態收斂速度及系統響應。

關鍵字

類神經 ； 控制器 ； 滑動模式

並列摘要

In this thesis, a neuro-adaptive terminal sliding mode controller (NATSMC) for unknown nonlinear dynamical systems is proposed. This controller is composed of two parts, one is an adaptive terminal sliding mode controller, which gives robust stability for system in the presence of parameter variations, uncertainties, and disturbances, and provides the property that the system state variables reach zero in finite time. The other is a neural network controller, which can estimate and simulates the unknown equivalent controller which due to the unknown dynamical system by the weight updates itself. Finally, the parameter of the adaptive terminal sliding mode controller can be tuned based on the Lyapunov stability analyzes.
For compare the performance of the system in the terminal sliding mode with the performance of the system in the sliding mode, we replace the terminal sliding mode controller (TSMC) by traditional sliding mode controller(SMC) in overall controller, and apply the two controllers to control a numerical nonlinear control system and an inverted pendulum control system. The simulation results demonstrate the applicability of the proposed method, and the neuro-adaptive terminal sliding mode controller has batter system performance.
Finally, according to the different parameters of the terminal sliding surface, the simulations demonstrate the different system states convergent speed and system response.

並列關鍵字

controller ； neural ； sliding mode

參考文獻

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