具有匹配時變不確定參數線性系統設計之適應模糊控制

Adaptive Fuzzy Terminal Sliding Mode Controller Design for Linear Systems With Matched Time-Varying Uncertainties

翁健智(Chien-Chih Weng)

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(2007年)

摘要

在本篇論文中，針對具有不匹配時變不確定參數的連續時間多輸入多輸出(MIMO)的線性系統，我們提出一個適應模糊具有終端滑動模式控制設計法則。我們將設計一個結合狀態誤差的適應模糊終端滑動模式控制器(AFTSC)來處理事先並不知道狀態資訊及不匹配時變參數的不確定性，並使狀態誤差在有限的時間週期內快速達到平衡點。這個適應模糊終端滑動模式控制器是由一個適應機構及模糊控制器所組成並立即重現系統狀態在不同時間的狀態追蹤誤差。基於Lyapunov的穩定性方法，這個系統使用所提出的終端滑動模式適應模糊控制器的是可以令所有誤差狀態變數到達零點。最後，我們將使用一個自由度為2的並聯式機器人來驗證所提出方法的效能。

關鍵字

不確定性 ； 機器人 ； 自由度 ； 控制器 ； 平衡點

並列摘要

In this thesis, we proposed an adaptive fuzzy terminal sliding mode control design method for continuous-time multiple-input-multiple-output linear systems with matched time-varying uncertainties. Then, we will design an adaptive fuzzy terminal sliding mode controller combined with state error to handle where the state information and matched time-varying uncertainties are not required to be known in advance and make the state error reach the equilibrium point in a finite time period quickly. The adaptive fuzzy terminal mode controller consists of an adaptive mechanism and fuzzy controller to reconstruct the system states at different time instants for state tracking error. Based on the Lyapunov stability approach, the system using the proposed adaptive fuzzy terminal sliding mode controller can make all state errors that reach zero point. Finally, we will use a 2-dof parallel robot system to verify the effectiveness of the proposed method.

並列關鍵字

terminal sliding mode ； matched uncertainties ； MIMO

參考文獻

[1] R. Wai,“Total sliding-mode controller for PM synchronous servo motor drive

using recurrent fuzzy neural network,”IEEE Trans. Industrial Elect., vol. 48,

no. 5, pp. 926-944, 2001.

[2] X. Yu and G. Chen,“Discretization behaviors of equivalent control based slidingmode

control systems,”IEEE Trans. Automat Contr., vol. 48, no. 9, pp. 1641-