具有狀態觀察器之適應模糊積分滑動模式控制器設計

DESIGN OF ADAPTIVE FUZZY INTEGRAL SLIDING MODE CONTROLLER WITH STATE OBSERVER

李姿璇(Tzu-Hsuan Li)

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(2004年)

摘要

本論文中，吾人對於不確定的未知非線性系統提出以觀察器為基礎的適應模糊積分滑動模式控制器。此控制器結合滑動模式控制器與積分控制器，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；積分控制器則可以消除系統響應的穩態誤差。控制器設計的步驟如下:首先，決定切換平面的係數和積分控制器的增益，使得完整的閉迴路系統具有要求的特徵值。其次，設計觀察器以估測受控系統的狀態。再利用估測的狀態設計輸出回授控制法則和適應法則，最後根據Lyapunov穩定度的分析，提出調整適應模糊積分滑動模式控制器參數的法則。
我們將適應模糊積分滑動模式控制器應用於倒單擺系統和混沌系統之控制，模擬的結果可以證明提出的控制方法具有強健性及消除穩態誤差的特性。

關鍵字

觀察器 ； 適應 ； 模糊 ； 積分 ； 滑動模式

並列摘要

In this thesis, an observer-based adaptive fuzzy integral sliding mode control (AFISMC) scheme is proposed for a certain class of unknown nonlinear dynamical system. This scheme is composed of two types of controllers. One is sliding mode controller, which gives robust stability for system in the presence of parameter variations, uncertainties, and disturbances. The other is an integral controller, which can eliminate steady-state error. A procedure is developed for determining the coefficients of the switching plane and the integral control gain such that the overall closed-loop system has the desired eigenvalues. In addition, an observer is employed for state estimation, so that the state variables need not be measured. By using an observer-based output feedback control law and adaptive law, the parameters of the adaptive fuzzy integral sliding mode controller can be tuned based on the Lyapunov stability analyzes.
We apply the adaptive fuzzy sliding controller to control an inverted pendulum system and a Duffing forced oscillation system, the simulation results demonstrate the applicability of the proposed method.

並列關鍵字

ADAPTIVE ； FUZZY ； INTEGRAL ； OBSERVER ； SLIDING MODE

參考文獻

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