Fuzzy Controller Design for Discrete-Time Nonlinear Systems via Model Predictive Control

離散非線性系統之模糊模型預測控制

劉建宏(Chien-Hung Liu)

《中華技術學院學報》 36期 (2007/06) Pp. 273-287

https://doi.org/10.7095/JCIT.200706.0273

摘要

本論文是結合高木與菅野(T-S)模糊模型，與模型預測控制(MPC)策略，來處理離散非線性系統之穩定性問題。首先利用T-S模糊模型將非線性系統模型化。其次，利用模型預測控制法則與平行分佈補償(PDC)技術，設計模糊狀態回授控制器，並以線性矩陣不等式(LMIs)導出李亞普諾函數指數穩定意義表示之充分條件。最後，以卡車拖車(truck-trailer)系統作為實驗平台，進行電腦數值模擬，證明所提出之混合模糊模型預測控制法有效，且可得到令人滿意的結果。

關鍵字

模型預測控制 ； 線性矩陣不等式 ； 平行分佈補償 ； 卡車拖車系統

並列摘要

In this paper, we combined the Takagi-Sugeno (T-S) fuzzy model with the model predictive control (MPC) strategy to deal with the stabilization problem of nonlinear systems. First, the discrete-time T-S fuzzy model was adopted for modeling the nonlinear systems. Second, fuzzy state feedback controllers were proposed which was based on the model predictive control approach and a parallel distributed compensation (PDC) scheme. Sufficient conditions were derived for stabilization in the sense of Lyapunov exponential stability, and formulated in linear matrix inequalities (LMIs). Finally, a truck-trailer system, which is nonlinear and unstable, was applied for test. The effectiveness of the proposed mixed fuzzy model predictive controller design was demonstrated with satisfactory numerical simulation results.

並列關鍵字

Model prediction control ； Linear matrix inequality ； Parallel distributed compensation ； Truck-trailer system