Intelligent Computation of the Equivalent Control in Sliding Mode for Nonlinear Motion Systems

非線性運動系統在滑動模式下的智慧型等效控制計算

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

《中華技術學院學報》 24期 (2002/03) Pp. 222-234

https://doi.org/10.7095/JCIT.200203.0222

摘要

傳統控制理論適合應用於以分析模型為基礎的控制工作，其中以可變結構為基礎的滑動控制已廣泛應用在非線性運動系統的強健控制上。然而一個複雜的運動系統具高度耦合的非線性與未知的動態特性，通常較困難或甚至不可能精確了解受控體的數學模型。因此在應用滑動模式控制峙，主要的問題在必須克服系統動態知識且能使用系統參數求得等效控制。本篇論文主要在整合智慧型方法與滑動控制至控制器設計，並以自動化調整控制參數來獲得優越的性能，而自動產生的主要專家知識可供使用者在不受時間、地點、環境的影響下，完成穩定的非線性運動系統控制。

關鍵字

非線性 ； 滑動控制 ； 智慧型控制 ； 等效控制

並列摘要

Conventional control theory is well suited for application where the control efforts can be generated based on analytical model. Sliding mode control (SMC), based on the theory of variable structure systems (VSS), has been widely applied to nonlinear motion control. Hence it is practically difficult to implement these algorithms when the parameters of the system are not precisely known in advance or the system is subjected to unmodelled nonlinearities and uncertain disturbance. In consequence, it is much more difficult to find a solution for this problem. In the application of sliding mode controllers, the main problem which is encountered is that a whole knowledge of the system dynamics and the system parameters is required to be able to compute the equivalent control. In this paper, we consider adding some computationally methods to the SMC by automatically tuning the control parameters. This approach retains the property of SMC but alleviates the chattering, and the intelligent control parameters can be determined systematically by the reaching condition of the SMC. And the method of designing intelligent controller is achieved automatically without domain experts. 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

Nonlinear ； Sliding Mode Control ； Intelllgent Control ； Equivalent Control