具有未知截止區的不確定非線性時間延遲系統之強健適應模糊控制

ROBUST ADAPTIVE FUZZY CONTROL OF UNCERTAIN NONLINEAR TIME-DELAY SYSTEMS WITH AN UNKNOWN DEAD-ZONE

陳夢涵(Mon-Han Chen)

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

摘要
本篇論文針對具有未知截止區的不確定非線性時間延遲系統提出一個強健適應模糊控制方法。在甚多的工程系統上，存在著時間延遲及截止區特性，常見具有截止區現象，如：感測器、放大器、空氣閥門、電力伺服馬達及水力元件等。再者，具有時間延遲特性在化學製程、水力及空氣閥門亦可發現。在眾多實際動態系統中，截止區的特性會隨時間變化且知之甚微。在沒有建立截止區反函數的情況下，提出一套強健適應模糊控制器之設計法則，藉著使用截止區的定義，能夠直覺地敘述並且數學地描述去探索截止區模型的特性。其次，利用具有適應法則之模糊邏輯系統方法去近似一個未知非線性函數的受控個體，基於李亞普諾夫穩定定理，所提出強健適應模糊模式控制方法能夠確保致動器在具有未知截止區之整個閉迴路非線性時間延遲系統中可以獲得良好追蹤成果。最後，對於所提出之控制器設計方法，本論文將以例題和電腦模擬結果來說明並驗證其有效性。

關鍵字

強健適應模糊控制 ； 截止區

並列摘要

ABSTRACT

This thesis proposes a robust adaptive fuzzy control scheme for the uncertain nonlinear time-delay systems preceded by an unknown dead-zone. It is well known that time-delay and dead-zone characteristics are frequently encountered in various engineering systems. The dead-zone phenomena may occur in various components of control systems including sensors, amplifiers and actuators, especially in pneumatic valves, in electric servo motors and in hydraulic components. On the other hand, the time-delay phenomena are quite commonly found in chemical process, hydraulic systems and pneumatic systems. In most practice motion systems, the dead-zone characteristics are usually poorly known and may vary with time. But, a robust adaptive fuzzy control method is presented without constructing the dead-zone inverse by using a description of a dead-zone and exploring the properties of this dead-zone model intuitively and mathematically. According to some adaptive laws, the unknown nonlinear functions of the plant are approximated by the fuzzy logic system. Based on Lyapunov stability theorem, the proposed robust adaptive fuzzy control scheme can guarantee the robust stability of the whole closed-loop nonlinear time-delay system with an unknown dead-zone in the actuator and obtain good tracking performance as well. Finally, some examples and simulation results are provided to prove efficiency of proposed method.

並列關鍵字

adaptive fuzzy ； dead-zone

參考文獻

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