非線性藕合之適應模糊滑動模式控制

Adaptive fuzzy sliding mode controller for nonlinear coupled system

黃亮智(Liang-chih Huang)

指導教授 ： 龔宗鈞

大同大學/電機資訊學院/電機工程學系所/碩士(2008年)

摘要

本論文是探討分層適應滑動模式控制器設計， 此控制器是針對四階非線性藕合動態系統可以被解藕成二個子系統,並且由滑動面來定義每一個子系統。利用模糊系統的特性來敘述非線性動態系統的未知函數，一個分層適應滑動模式控制器來確保追蹤效能,而所設計的適應法則會調節模糊系統的參數。根據Lyapunov 穩定度定理，會證實四階非線藕合系統的穩定度。此外，所設計的控制系統使全部的訊號達到理想追蹤效能和有界。最後，模擬例子所產生的結果，說明所提出的控制方法的可行性和有效性。

關鍵字

適應法則 ； 滑動模式控制 ； 模糊控制

並列摘要

This thesis investigates a hierarchical adaptive fuzzy sliding-mode control, and it is proposed for a class of fourth-order nonlinear coupled system can be decoupled into two subsystems, and a sliding surface is defined for each subsystem. The fuzzy models are used to estimate the unknown function of the nonlinear dynamic system. A hierarchical fuzzy sliding model controller is developed for guaranteeing the tracking performance. Then, we propose the adaptive laws to adjust the free parameters of the fuzzy models. The stability of the fourth-order nonlinear system can be verified by Lyapunov stability theorem. Moreover, the proposed overall control schemes guarantee that all the signals are bounded and achieve the desired tracking performance. Finally, the examples are given to illustrate the feasibility and the effectiveness of the proposed control strategy.

並列關鍵字

sliding mode control ； fuzzy control ； Adaptive law

參考文獻

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