針對具有狀態延遲與輸入延遲的不確定系統之適應模糊滑動模式控制器設計

DESIGN OF THE ADAPTIVE FUZZY SLIDING MODE CONTROLLER FOR UNCERTAIN SYSTEMS WITH STATE AND INPUT DELAYS

黃柏盛(Po-shen Huang)

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(2006年)

摘要

在本論文中，針對狀態延遲與輸入延遲的不確定系統提出一個適應模糊積分滑動模式控制器。輸入延遲的問題將會造成系統的不穩定。為了處理這個問題，我們使用狀態轉換的方法來消除輸入延遲。因此，轉換後的系統將不具有輸入延遲的現象。根據Lyapunov穩定度的原理，我們設計一個適應模糊滑動模式控制器，使得系統為漸進穩定。附帶一提，我們使用適應模糊的方法來估測及客服系統的不確定性及擾動項。最後，我們提出一些例子來驗證本文所提出的控制器對此系統的有效性。

關鍵字

適應模糊控制 ； 滑動模式控制

並列摘要

In this thesis, an adaptive fuzzy integral sliding mode controller for uncertain systems with state and input delays is proposed. The problem of input delay will cause instability of the system. In order to treat this problem, we use the method of state transformation to eliminate the input delay. Therefore, the transformed system is free of input delay. Based on Lyapunov stability theorem, we will design an adaptive fuzzy integral sliding mode controller to ensure the system can be asymptotically stable. In addition, the use of adaptive fuzzy technique is to estimate the upper bound of the lumped perturbation. Simulation results are presented to demonstrate the feasibility of the proposed control scheme.

並列關鍵字

adaptive fuzzy control ； sliding mode control

參考文獻

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