- 學位論文
針對具有滑動扇形多輸入多輸出非線性雙旋轉翼系統之適應強健控制設計
ADAPTIVE ROBUST CONTROL DESIGN FOR A MIMO NONLINEAR TWIN ROTOR SYSTEM WITH SLIDING SECTOR
摘要
本篇論文將利用一個具有滑動扇形之強健適應模糊控制器來處理輸出追蹤控制問題。首先，非線性系統經由李氏微分轉換得到所對應的等效受控系統。進而，由於耦合效應被考慮為系統不確定性，本論文利用滑動扇形控制，提出一套強健模糊追蹤控制的運算法則來處理一雙旋轉翼系統之輸出追蹤性能的問題。藉著運用模糊邏輯系統與適應法則分別來近似未知的非線性函數及估測未知的上界，所提出的控制方法不僅可保證系統的強健穩定性，讓追蹤誤差得到良好的收斂性。最後，本論文提出一個例題來證實所提出控制器的有效性。
並列摘要
This paper utilizes a robust adaptive scheme with sliding sector to a output tracking control problem. First, the original nonlinear system dynamics can be transformed into an equivalent plant via the Lie derivative. Moreover, due to coupling effects, which are regarded as system uncertainties, a robust adaptive tracking control algorithm based on the sliding sector is introduced in this thesis to deal with the output tracking problem of a twin-rotor multi-input multi-output system (TRMS). By applying some adaptive laws are employed to estimate the upper bounds of the unknown uncertainties. The proposed robust adaptive controller can not only guarantee the robust stability of the variable nonlinear systems, but also achieve good tracking performance. Finally, an example is given to demonstrate the validity of the proposed control strategy
參考文獻
延伸閱讀
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- 楊景全（2010）。導風扇型雙軸控制平台之設計與實現：使用監督式強健型Type-2區間模糊邏輯控制器〔碩士論文，中原大學〕。華藝線上圖書館。https://doi.org/10.6840/cycu201000118
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- 李家慶（2011）。針對非線性離散時間多輸入多輸出系統之適應輸出回授積分型滑動模式控制〔碩士論文，大同大學〕。華藝線上圖書館。https://www.airitilibrary.com/Article/Detail?DocID=U0081-3001201315112387
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