針對具時間延遲之非線性單一輸入單一輸出系統設計以可變結構間接適應模糊為基礎之H∞追蹤控制器與觀察器

Observer-Based Fuzzy Adaptive Tracking Controller Design for Nonlinear SISO Time-Delay Systems via VSS and H∞ Approaches

王俊傑(Chun-Chieh Wang)

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

在本論文中，我們提出一個具有狀態時間延遲、受控廠不確定性及外界干擾之非線性系統的適應模糊控制器與觀察器的設計。
首先，我們利用具有適應演算的模糊系統去學習未知的系統動態；其次，為了補償適應模糊系統在 $H^{infty}$ 追蹤控制上的近似誤差，我們提出一個修正代數 Riccati-like 方程式，它能證明當閉迴路系統的所有狀態和訊號是有界時，外界干擾對追蹤誤差的影響可以被指定到一可接受範圍值內，而達到 $H^{infty}$ 追蹤性能表現。
與之前的論文做一個比較：本論文可以在受控系統之狀態未能取得下，加入觀察器的設計，並且對於狀態具有時間延遲，也可以藉由適當的控制力，使得狀態時間延遲對追蹤誤差的影響可以被指定到一個的範圍值內，而且，觀察器的狀態誤差可以收斂至一有界值。
最後，藉由倒單擺台車的模擬例子，希望能確認我們所提出的控制演算法與狀態觀察演算法的成效。

關鍵字

適應模糊

並列摘要

In this thesis, an observer-based fuzzy adaptive VSS tracking controller design algorithm is presented for a class of nonlinear SISO delayed systems with external disturbances for achieving $H^infty$ tracking performance.
A two-stage design procedure to improve disturbance attenuation ability of adaptive VSS fuzzy-based controllers is proposed where the observer design is separated from the controller design.
To facilitate this concept, an observer is developed for the error dynamics and Lyapunov type stability is established under certain condition.
The fuzzy approximators equipped with adaptive algorithms are introduced to learn the behaviors of the uncertain dynamics.
It is shown that all the states and signals of the system are bounded and the effect of the external disturbance on the tracking error can be attenuated to any prescribed level and consequently an $H^infty$ tracking control is achieved.
Finally, simulation examples by the application to control of a car-like inverted pendulum are included to confirm the validity and performance of the proposed control and observer algorithms.

並列關鍵字

Observer

參考文獻

[1] J. H. Park, S. J. Seo, and G. T. Park, “Robust adaptive fuzzy controller for

nonlinear system using estimation of bounds for approximation errors,” Fuzzy

[2] S. C. Tong and H. X. Li, “Direct adaptive control of multivariable nonlinear

[3] S. C. Tong, J. T. Tang, and T. Wang, “Fuzzy adaptive control of multivariable

[4] S. C. Tong, T. Wang, and J. T. Tang, “Fuzzy adaptive output tracking control