輔以觀察器針對不確定性的多輸入多輸出非線性系統之強健適應模糊控制

OBSERVER-BASED ROBUST ADAPTIVE FUZZY CONTROL OF UNCERTAIN MULTIPLE-INPUT MULTIPLE-OUTPUT NONLINEAR SYSTEMS

吳治學(Chih-Hsueh Wu)

指導教授 ： 江江盛

大同大學/電機資訊學院/電機工程學系所/碩士(2006年)

摘要

本論文是架構在觀察器上，提出強健適應模糊控制和強健適應模糊滑動模式控制來處理某一類具有狀態變數不能直接獲得的不確定多輸入多輸出(MIMO)非線性系統之強健穩定性。在這些方法當中，根據適應糢糊基底函數來近似一個未知的非線性函數，並且觀察器的設計是來估測系統的狀態而強健適應模糊控制是首先要被提出。基於模糊全域近似定理,許多適應模糊控制方法被發展來處理多輸入多輸出(MIMO)的非線性系統。根據李亞普諾夫穩定定理及可變結構控制理論，本論文提出強健適應模糊滑動模式控制法則，不僅可以確保整個閉迴路系統在具有不確定且狀態變數不能直接獲得的多輸入多輸出(MIMO)非線性系統之穩定性，而且同時可以讓系統的輸出能夠有效地追蹤所指定的參考信號，以便獲得良好的追蹤性能。最後，本論文提出一些非線性系統的例題來證實所提出控制器的有效性。

關鍵字

多輸入多輸出非線性系統 ； 強健適應模糊控制 ； 模糊邏輯系統 ； 模糊觀察器

並列摘要

In this thesis, the proposed observer-based robust adaptive fuzzy control and observer-based robust adaptive fuzzy sliding mode control schemes can deal with the problem of robust stability for a class of uncertain multi-input multi-output (MIMO) nonlinear systems whose states are not available. Within these schemes, a fuzzy basis function is used to approximate an unknown nonlinear function according to some adaptive laws, and then the state observer is designed for estimating the states of the plant, upon which a robust adaptive fuzzy controller is firstly investigated. According to Lyapunov stability theorem and the theory of variable structure control, the proposed robust adaptive fuzzy sliding mode control scheme can guarantee the robust stability of the whole closed-loop system and obtain good tracking performance. Finally, the simulations are carried out on a two-link robot manipulator to illustrate the performance of the proposed approach.

並列關鍵字

multiple-input multiple-output nonlinear systems ； Robust Adaptive Fuzzy control ； Fuzzy logic systems ； Fuzzy observer

參考文獻

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