針對不確定非線性廣義系統之觀察模糊追蹤控制器設計

Observer-Based Fuzzy Tracking Control Design for Nonlinear Uncertain Descriptor Dynamic Systems

張慶興(CHING-HSING CHANG)

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(2006年)

摘要

在本篇論文中，對於不確定之非線性描述(廣義)系統，提出一個具有H∞參考模型追蹤性能之模糊控制器來減弱由未模型化(不確定)動態,干擾以及近似誤差所引起之作用。
首先，非線性之廣義系統可藉由一個等效的Takagi-Sugeno模糊模型來陳述，而狀態回授模糊控制架構是為了抑制額外的干擾而發展出來，因此進而達到一個參考模型之追蹤性能。
本文基於李雅普諾夫穩定分析定理來分析這裡所提出的模糊控制系統之閉迴路系統的穩定度，以及保證獲得很好的追蹤效能。而所獲得之穩定條件可依據一個線性矩陣不等式(LMI)來表示。最後，我們利用一個非線性廣義系統來驗證我們提出的方法，這個模擬能證實本文所提出控制器的成效以及達到滿意的結果。

關鍵字

H∞控制 ； 觀察器 ； 廣義系統 ； 追蹤誤差

並列摘要

In this thesis, a fuzzy logic controller with H∞ model reference tracking performance for uncertain nonlinear descriptor systems is proposed to attenuate the effects caused by unmodeled dynamics, disturbances and approximate errors. First, the nonlinear descriptor system is represented by an equivalent Takagi-Sugeno type fuzzy model, a state feedback fuzzy control scheme is developed to restrain the external disturbances such that the model reference tracking performance is achieved.
Furthermore, based on Lyapunov stability theorem, the proposed fuzzy control system can guarantee the stability of the whole closed-loop system and obtain good tracking performance as well model.Stability conditions are expressed in terms of linear matrix inequalities(LMI).Finally, the proposed method is applied to a nonlinear descriptor systems control problems.The simulation can demonstrate the validity of the proposed scheme and achieve satisfy simulation results.

並列關鍵字

H∞ control ； observer ； descriptor systems ； tr

參考文獻

[1]L. A. Zadeh, "Outline of a new approach to the analysisof complex systems and design processes," IEEE Trans, Systems, Man, Cybernetics, vol. 3,28-44, 1973

[2]E. H. Mamdani and S. Assilian,"Applications of fuzzy algorithms for control of simple dynamic plant," Proc.IEE. PtD, vol. 121, pp. 1585-1588, 1974

[3]T. Takagi and M. Sugeno,"Fuzzy identification of systems and its application to modelling and control," IEEE Trans. Systems, Man and cybernetics, vol. 15, pp. 116-132, 1985.

[4]K. Tanaka and M. Sugeno,"Stability analysis and design of fuzzy control systems," Fuzzy Sets and Systems, vol. 45, pp. 135-156, 1992.

[5]C. L. Chen, P. C. Chen, and C. K. Chen,"Analysis and design of fuzzy control systems,"Fuzzy Sets and Systems, vol. 57, pp. 125-140, 1993.