多變量非線性不確定系統在輸出延遲下之強健適應模糊輸出回授控制

ROBUST ADAPTIVE FUZZY OUTPUT FEEDBACK CONTROL OF MULTIVARIABLE NONLINEAR UNCERTAIN SYSTEMS WITH DELAYED OUTPUT

林柏漢(Po-Han Lin)

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(2008年)

摘要

在本篇論文中提出輔以觀測器之強健適應模糊輸出回授控制，來處理某一類具有輸出延遲及不確定項之不確定多輸入多輸出非線性系統之漸近穩定化以及輸出追蹤性能的問題。首先，模糊邏輯系統和一些適應法則用來近似未知的非線性函數以及不確定項的未知上界。其次，利用觀察器來估測在系統中無法直接獲得的狀態。進而，藉由選取適當的李亞普諾夫(Lyapunov)函數以及使用strictly-positive-real (SPR) 穩定度定理，本論文所提出的強健適應模糊輸出回授控制器，不僅可以確保某一類具有輸出延遲之多變量非線性不確定系統的穩定性，並且也可以維持良好的追蹤效能。最後，本論文提出一些例題來證實所提出控制器的有效性。

關鍵字

適應法則 ； 觀察器 ； 模糊邏輯系統 ； 嚴格正實 ； 強健適應模糊控制 ； 輸出延遲 ； 不確定性 ； 漸近穩定 ； 追蹤誤差 ； 李亞普諾夫方法

並列摘要

In this thesis, a robust adaptive fuzzy output feedback control based on a state observer for a class of multi-input multi-output (MIMO) nonlinear systems with output delay and uncertainties is presented to deal with the problems of asymptotic stabilization and output tracking performance. Firstly, fuzzy logic systems and some adaptive laws are used to approximate unknown nonlinear functions and the unknown upper bounds of uncertainties, respectively. Secondly, the state observer is applied for estimating all states which are not available for measurement in the system. Thirdly, by constructing an appropriate Lyapunov function and using strictly-positive-real (SPR) stability theorem, the proposed robust adaptive fuzzy output feedback controller can not only guarantee the robust stability of a class of multivariable nonlinear uncertain systems with output delay, but also maintain a good tracking performance. Finally, some simulation examples are given to illustrate the effectiveness of the proposed approach.

並列關鍵字

fuzzy logic systems ； strictly-positive-real ； robust adaptive fuzzy controller ； output delay ； uncertainties ； asymptotic stabilization ； observer ； adaptive law ； tracking error ； Lyapunov method.

參考文獻

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