Robust Adaptive Fuzzy Controller Design of Uncertain MIMO Nonlinear Systems

非線性多輸入多輸出系統之強健可適性模糊控制器設計

陳俊勝(Chun-Sheng Chen) ； 余元培(Yuan-Pei Yu)

《中華技術學院學報》 23期 (2001/09) Pp. 26-43

https://doi.org/10.7095/JCIT.200109.0026

摘要

本篇論文將以解耦合神經網路來克服子系統間的交連問題，並以調整後件歸屬函數來完成強健性，最後完成穩定的可適性多輸入多輸出模糊邏輯控制器。建議的可適性模糊邏輯控制器是針對多變數非線性系統在未知參數變化與結構下的強健追蹤控制，其設計包含衰減技術、模糊邏輯近似法與可適性控制演算法。藉著使用H^∞追蹤性能引數，可以證明建議的控制器在整個系統是均勻有界。二維倒單擺的模擬結果確定在模糊近似誤差與外部干擾的影響下，追蹤誤差能被有效的衰減。

關鍵字

強健性 ； 可適性模糊系統 ； 非線性 ； 多輸入多輸出

並列摘要

The goal of this paper is to develop a stable adaptive MIMO fuzzy logic controller to overcome the interaction among the subsystems by a decoupling neural network and to facilitate robust properties by fine-tuning the consequent membership functions. The proposed adaptive fizzy controller does not require any knowledge of a nonlinear system. By using H^∞ tracking performance index, the overall system with the proposed controller has been proved to be uniform ultimate bounded. Simulation results of a two-dimensional inverted pendulum confirm that the effect of both the fuzzy approximation error and external disturbance on the tracking error can be attenuated efficiently by the proposed method.

並列關鍵字

Adaptive Fuzzy Control ； Robust ； MIMO ； Nonlinear