參數型嚴格回授非線性時延系統的適應模糊強健輸出追蹤控制

ADAPTIVE FUZZY ROBUST OUTPUT TRACKING CONTROL OF PARAMETRIC STRICT-FEEDBACK NONLINEAR TIME-DELAY SYSTEMS

劉殷作(Yin-Tso Liu)

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(2009年)

摘要

針對處理具有不確定性之時間延遲參數型嚴格回授非線性系統的追蹤控制，本論文提出強健時間延遲相依適應模糊控制和強健時間延遲獨立適應模糊控制的設計法則。在不同種類的工程系統中，干擾項的存在是非常普遍的問題；在此對外部擾動進行探討。由於干擾項結構複雜和具有時間延遲的非線性函數是未知的，所以模糊邏輯系統和適應法則是被用來近似干擾項的上界以及非線性函數。基於李亞普諾夫穩定度定理，所提出的控制方法不僅可以確保整個閉迴路系統的強健穩定性，還能獲得良好的追蹤性能。最後，給定的模擬例題證實所提出的控制方法的有效性。

關鍵字

輸出追蹤控制 ； 參數型嚴格回授非線性系統 ； 時間延遲系統 ； 適應法則 ； 模糊邏輯系統 ； 李亞普諾夫穩定定理

並列摘要

This thesis proposes robust time-delay dependent adaptive fuzzy control and robust time-delay independent adaptive fuzzy control schemes to deal with the tracking control problem of time delay parametric strict-feedback nonlinear systems in the presence of nonparametric uncertainties. It is well-known that the presence of perturbations is a very common problem in various kinds of engineering systems, and external disturbances are discussed in this thesis. Fuzzy logic systems and adaptive laws are applied to approximate the upper bounds of the disturbances and nonlinear functions of delay time due to complex structure of perturbations and unknown nonlinear functions. Based on Lyapunov stability theorem, the proposed control scheme not only ensures the robust stability of the overall closed-loop system but also obtains good tracking performance. Finally, a simulation example is given to illustrate the effectiveness of the proposed control scheme.

並列關鍵字

output tracking control ； parametric strict-feedback nonlinear systems ； time-delay systems ； adaptive law ； fuzzy systems ； Lyapunov stability theorem

參考文獻

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