基於模糊滑動模式控制方法針對不確定欠驅動系統之輸出追蹤控制

OUTPUT TRACKING CONTROL FOR UNCERTAIN UNDERACTUATED SYSTEMS BASED ON FUZZY SLIDING MODE CONTROL APPROACH

胡家禎(Chia-Chen Hu)

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(2010年)

摘要

針對處理不確定欠驅動系統之輸出追蹤，本論文提出模糊滑動模式控制方法。在不同種類的工程系統中，不確定性的存在是非常普遍的問題；它包含了模式化誤差、未模式化的動態、外部干擾和參數變化。首先，將整個欠驅動系統分成數個不同的子系統。針對每個子系統定義第一層滑動面。因此，從第一層的滑動面我們更進一步地建構第二層滑動面。模糊邏輯系統與適應法則分別被用來近似未知的非線性函數及估測未知的干擾上界。基於李亞普諾夫(Lyapunov)穩定度定理與滑動模式控制理論，所提出的控制方法不僅保證不確定欠驅動系統的強健穩定性，還可獲得良好的追蹤性能。最後，給定兩個模擬例題證明所提出的控制方法的正確性。

關鍵字

模糊邏輯系統 ； 適應法則 ； 滑動模式 ； 不確定性 ； 欠驅動

並列摘要

This thesis proposes the fuzzy sliding mode control approach to deal with the output tracking of the uncertain underactuated system. It is well-known that the presence of uncertainties which include modeling error, unmodeled dynamics, external disturbances and parameter variations is a very common problem in various kinds of engineering systems. First, the whole underactuated system is divided into several different subsystems. The first-level sliding surfaces are defined for each subsystem. Hence, we further construct a second-level surface from these first-level sliding surfaces. The fuzzy logic systems and some adaptive laws are used to approximate the unknown nonlinear functions and estimate the upper bounds of the unknown disturbances, respectively. Based on Lyapunov stability theorem and the theory of sliding mode control, the proposed control scheme not only ensures the robust stability of the uncertain underactuated system but also obtains good tracking performance. Finally, two simulation examples are given to show the validity of the proposed control method.

並列關鍵字

sliding mode ； uncertainties ； underactuated ； fuzzy logic system ； adaptive law

參考文獻

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