針對不確定輸出延遲非線性系統輔以觀測器之強健適應模糊控制器設計

DESIGN OF OBSERVER-BASED ROBUST ADAPTIVE FUZZY CONTROLLER FOR UNCERTAIN OUTPUT-DELAY NONLINEAR SYSTEMS

王士瑋(Shih-Wei Wang)

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

本論文主要是提出輔以觀測器之強健適應模糊控制器，來處理某一類具有輸出延遲及未匹配不確定項之不確定單輸入單輸出非線性系統之漸近穩定化以及輸出追蹤性能的問題。在這個方法當中，利用觀察器來估測在系統中無法直接獲得的狀態,並且使用模糊邏輯系統及一些適應法則來近似未知的非線性函數以及未匹配不確定項的未知上界。藉由選取適當的李亞普諾夫(Lyapunov)函數以及解決李亞普諾夫方程式，本論文所提出的強健適應模糊控制器，不僅可以確保整個閉迴路系統之穩定性，而且可以分別讓系統達到漸近穩定化以及使系統的輸出能夠有效地追蹤所指定的參考信號。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

未匹配不確定性 ； 輸出延遲 ； 狀態變數濾波器 ； 觀測器

並列摘要

In this thesis, an observer-based robust adaptive fuzzy controller is proposed to deal with the problems of asymptotic stabilization and output tracking performance for a class of uncertain single-input single-output (SISO) nonlinear systems with output delay and unmatched uncertainties. Within this scheme, the state observer is applied for estimating all states which are not available for measurement in the system, and then fuzzy logic systems and some adaptive laws are used to approximate the unknown nonlinear functions and the unknown upper bounds of unmatched uncertainties. By constructing an appropriate Lyapunov function and solving Lyapunov equations, the proposed robust adaptive fuzzy controller can guarantee that the asymptotic stabilization and the output tracking performance of the whole closed-loop system can be achieved. Finally, some simulation examples are given to illustrate the effectiveness of the proposed approach.

並列關鍵字

unmatched uncertainties ； output delay ； state variable filters ； observer

參考文獻

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