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

ADAPTIVE OUTPUT FEEDBACK INTEGRAL TYPE SLIDING MODE CONTROL FOR NONLINEAR DISCRETE-TIME MIMO SYSTEMS

李家慶(Chia-Ching Li)

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(2011年)

摘要

對於包含不確定項之非線性離散時間多輸入多輸出系統，本篇論文提出了一個積分型滑動模式控制方法來處理系統中的控制問題。首先一個強健觀察器被用來估計受控系統的未知狀態，其次基於積分型滑動面，本論文所提出的控制器讓系統特性可以滿足到達與滑動條件，並加入適應更新法則來估測未知不確定項的上界。藉由李亞普諾夫穩定分析方法，所提出的積分滑動模式控制不僅證實了閉迴路系統的強健穩定性，同時實現精確的估計。提出之方法的可行性將會在本篇論文中以電腦模擬的方式來驗證。

關鍵字

狀態濾波器 ； 強健觀察器 ； 模糊邏輯系統 ； 適應法則 ； 積分滑動模式控制 ； 多輸入多輸出系統 ； 離散時間系統 ； 李亞普諾夫穩定定理 ； 可變結構控制

並列摘要

For a class of uncertain nonlinear discrete-time multi-input-multi-output (MIMO) systems, this thesis presents an integral-type sliding mode control (ISMC) method to deal with the control problem. First, a robust observer is used to estimate unknown states of the controlled system. Next, the reaching condition and the sliding condition of the system behavior can be satisfied by the proposed control law based on the integral-type sliding surface. Moreover, some adaptive laws are introduced to estimate the upper bounds of the unknown uncertainties. By the Lyapunov theory, the presented integral sliding mode control not only guarantees the robust stability of the overall closed-loop system, but also achieves the precision estimation. The feasibility of the proposed method will be confirmed by computer simulation in this thesis.

並列關鍵字

state variable filters ； robust observer ； fuzzy logic systems ； adaptive laws ； integral sliding mode control ； multi-input-multi-output systems ； discrete-time systems ； Lyapunov stability theorem ； variable structure control

參考文獻

[1]H. Gi. Lee, A. Arapostathis, and S. I. Marcus, “Necessary and Sufficient Conditions for State Equivalence to a Nonlinear Discrete-Time Observer Canonical Form,” IEEE Trans. on Auto. Control, vol. 53, no. 11, pp. 2701-2707, Dec. 2008.

[2]S. Hanba, “On the “Uniform” Observability of Discrete-Time Nonlinear Systems,” IEEE Trans. on Auto. Control, vol. 54, no. 8, pp. 1925-1928, Aug. 2008.

[3]B. Bandyopadhyay, and D. Fulwani, “High-Performance Tracking Controller for Discrete Plant Using Nonlinear Sliding Surface,” IEEE Trans. on Industrial Elec., vol. 56, no. 9, pp. 3628-3637, Sep. 2009.

[4]F. Yang, and Y. Li, “Set-Membership Fuzzy Filtering for Nonlinear Discrete-Time Systems,” IEEE Trans. on Sys., Man, and Cyber. - Part B: Cyber., vol. 40, no. 1, pp. 116-124, Feb. 2010.

[5]X. D. Li, T. F. Xiao, and H. X. Zheng, “Adaptive discrete-time iterative learning control for non-linear multiple input multiple output systems with iteration-varying initial error and reference trajectory,” IET Control Theory Appl., vol. 5, iss. 9, pp. 1131-1139, 2011.