具有截止區之受控廠間接適應模糊控制器設計

Fuzzy Model Based Indirect Adaptive Control Design for Systems With Dead-Zone

陳和生(Her-Shing Chen)

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，對於一般具有截止區之受控廠，我們提出一模糊間接適應控制器設計。
在致動器裡，截止區特性是具非平滑非線性，常會嚴重限制系統的性能。
基於Takagi-Sugeno模糊模型，我們使用即時參數估測來估測系統參數。
根據李亞普諾夫穩定性定理，本文希望能設計一適應模糊控制器以及參數更新法則，使得對具有截止區之受控廠，能透過 Takagi-Sugeno 模糊模型及間接適應模糊控制的穩定準則使得輸出可以追蹤到我們所設定的值。
我們將以單一固定連接手臂結構來驗證本文所提出之設計法則的成效。
而例子的模擬也可以來驗證本文所提出的方法正確性及結果。

關鍵字

截止區 ； 模糊適應控制 ； 穩定性

並列摘要

In this thesis, we present an analysis of the online parameter estimator by the general Takagi-Sugeno fuzzy model based indirect adaptive control for systems with dead-zone.
According to Lyapunov stability theorem, the control objective is to design adaptive fuzzy controller and adaptive laws such that the overall Takagi-Sugeno fuzzy model based indirect adaptive fuzzy control system with dead-zone is stabilized and the output is forced to follow the desired reference input.
An single flexible joint manipulator system is used to illustrate the effectiveness of the proposed method.
The simulation can demonstrate the validity of the proposed scheme and achieve satisfy simulation results.

並列關鍵字

dead-zone ； Fuzzy adaptive control ； stability

參考文獻

vol. 51, no. 3, pp. 504-507, 2006.

[2] X.S. Wang, H. Hong and C.Y. Su,“Model Reference Adaptive Control Of

Continuous-Time Systems With an Unknown Input Dead-Zone,” IEE Proc.

And Stabilization Of Systems Presenting Nested Saturations,” IEEE Trans.

Automat Contr., vol. 51, no. 8, pp. 1364-1368, 2006.