輔以狀態觀察器針對不確定非線性離散時間系統之強健適應模糊控制器設計

STATE OBSERVER-BASED ROBUST ADAPTIVE FUZZY CONTROLLER DESIGN FOR A CLASS OF UNCERTAIN NONLINEAR DISCRETE-TIME SYSTEMS

陳居繄(Chu-Yi 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(2007年)

摘要

本論文是討論具有不確定項且狀態無法量測的非線性離散時間系統之強健特性及穩定度分析，進而提出輔以觀察器之強健適應模糊控制和強健適應模糊滑動模式控制的設計法則。在受控系統中的未知非線性函數和不確定項，將藉由適應模糊方法來近似，並使用具有一個扇形區域的補償控制器去處理上述方法所造成的近似誤差。根據李亞普諾夫穩定度定理及可變結構控制理論，所提出的控制器可以確保系統的穩定度，以及系統的狀態能夠追蹤到所指定的參考信號。最後，將以例題和電腦模擬結果來說明所提出的控制器方法之有效性。

關鍵字

離散時間 ； 強健適應模糊控制器 ； 觀察器

並列摘要

In this thesis, the design methods of observer-based robust adaptive fuzzy control and observer-based robust adaptive fuzzy sliding mode control are proposed to deal with robust characteristics and stability analysis of nonlinear discrete-time systems with uncertainties, whose states are not available for measurement. According to some adaptive laws, the unknown nonlinear functions and the uncertainties of the plant can be approximated by fuzzy logic systems, and the compensator with a sector is used to tackle the approximate errors which are caused by the above-mentioned methods. In the light of Lyapunov stability theorem and variable structure control (VSC) theory, the proposed controllers can guarantee the stability of the overall system, and the system states can follow the desired signals. Finally, two examples and simulation results are presented to illustrate the effectiveness of the proposed methods.

並列關鍵字

DISCRETE-TIME ； ROBUST ADAPTIVE FUZZY CONTROLLER ； OBSERVER

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