Integral Fuzzy Regulation Control for a Micro Unmanned Helicopter

微型無人操作直昇機之積分模糊調節控制

劉建宏(Chien-Hung Liu)

《中華科技大學學報》 49期 (2011/10) Pp. 127-143

https://doi.org/10.7095/JCUST.201110.0127

摘要

本文提出一個積分式模糊控制策略以解決微型無人操作直升機之輸出調節問題。為了消除系統的偏差且保證零－偏移量之輸出調節性能，首先將系統座標轉換到平衡點並且引入一個外加的輸出調節誤差之積分狀態，然後將此結果之增廣系統描述成一個高木與菅野(T-S)之模糊模型。其次利用平行分佈補償(PDC)技術和直接式李亞普諾夫(Lyapunov)法，透過解一組線性矩陣不等式(LMIs)來建立一個具輸出調節性能之積分式狀態回饋控制律。另外所提出的控制器設計有下列之優點：i)能處理非線性仿射(affine)系統；ii)在系統模型不確定的情況下具有指數穩定；iii)擁有分段式常數輸出之調節性能。最後以微型無人操作直升機之動態模型來示範所提之積分式模糊控制器的有效性。

關鍵字

微型無人操作直升機 ； 高木與菅野模糊模型 ； 輸出調節 ； 線性矩陣不等式 ； 積分式模糊控制器

並列摘要

This paper proposes an integral fuzzy control strategy to solve output regulation problem for the micro unmanned helicopter. In order to eliminate the system's bias and guarantee the zero-offset output regulation performance, we firstly take coordinate translation at equilibrium point and introduce an added integral state of output regulation error, and then the resulting augmented system is represented into a Takagi-Sugeno fuzzy model. Next, utilizing parallel distributed compensation (PDC) technique and direct Lyapunov method, an integral state feedback control law for output regulation is established by solving a set of linear matrix inequalities (LMIs). Moreover, the proposed controller design has following merits: i) capability to dealing with nonlinear affine system; ii) giving the exponential stability in the presence of model uncertainty; iii) possessing a piecewise constant output regulation performance. Finally, a micro unmanned helicopter dynamic model is presented to demonstrate the validity of the proposed integral fuzzy controller.

並列關鍵字

Micro unmanned helicopter ； Takagi-Sugeno fuzzy model ； output regulation ； linear matrix inequalities ； integral fuzzy controller