臺灣博碩士論文加值系統

本論文研究目的為建立非完全致動機器手臂系統之 T-S 模糊模型去近似非線性模型，並且設計控制器，以達到強健控制的效果。首先，由非完全致動機器手臂系統之特性可以得到非完全致動機器手臂系統之非線性方程式，然後利用線性化的過程 (泰勒展開式) 將非線性模型設計成 Takagi-Sugeno 模糊模型。控制器的部份，則利用平行分佈補償的方法去設計，並且使用李亞普諾夫穩定理論 (Lyapunov) 所推導出的線性矩陣不等式來驗證其穩定與否。最後結合粒子群演算法及田口實驗法搜尋最佳的回授增益。另外，為了能有效降低模糊規則數、提高電腦運算的速度，利用模糊區域概念化簡控制器的數目。上述，皆經由電腦模擬來比較各方法間之差異及優缺點。

The purpose of the thesis is to construct a Takagi-Sugeno (T-S) fuzzy model to approximate the nonlinear model of the underactuated robot system. Based on the T-S fuzzy model, the robust controller is designed for the underactuated robot system. First, we can obtain the nonlinear equations by the properties of the underactuated robot systems. Second, the T-S fuzzy model can be constructed by applying the process of the linearization. We apply the concept of parallel distributed compensation (PDC) to design the controller. To guarantee the stability of the underactuated robot control system, the linear matrix inequality (LMI) is derived using the Lyapunov stability theorem. Moreover, the hybrid particle swarm optimization (PSO) and Taguchi method is employed to search the optimal feedback gains. In order to reduce the numbers of fuzzy rules and improve the performance of control system, we use the concept of fuzzy region to design the T-S fuzzy controller. Last, the advantages and limitations are discussed.

誌謝 I
摘要 II
Abstract III
目錄 IV
圖目錄 VI
表目錄 IX
第一章 緒論 1
1.1 背景與動機 1
1.2 文獻回顧 1
1.3 論文架構 2
第二章 T-S模糊控制 3
2.1 模糊理論 3
2.1.1 模糊化 4
2.1.2 模糊規則 6
2.1.3 模糊推論引擎 7
2.1.4 解模糊化 7
2.2 T-S模糊模型 8
2.3 平行分佈補償控制器與穩定分析 9
2.3.1 平行分佈補償控制器 9
2.3.2 穩定分析 10
第三章 非完全致動機器手臂系統 12
3.1 非完全致動機器手臂系統數學模型 12
3.2 非完全致動機器手臂系統線性模型 14
3.3 極點配置設計 16
3.4 強健控制 19
3.4.1 強健控制與輸入限制設計 19
3.4.2 電腦模擬 20
第四章 基於粒子群最佳化演算法之非完全致動機器手臂模糊控制 24
4.1 粒子群最佳化演算法 24
4.1.1 粒子群最佳化演算法原理簡介 24
4.1.2 粒子群最佳化演算法過程 27
4.2 田口實驗法 28
4.3 基於粒子群最佳化演算法之非完全致動機器手臂模糊控制器設計 32
4.4 電腦模擬 33
4.4.1 步階追蹤比較 34
4.4.2 干擾抑制比較 38
第五章 模糊區域化之非完全致動機器手臂控制 43
5.1 模糊區域控制器 43
5.1.1 模糊區域控制器設計 43
5.1.2模糊區域控制器穩定分析 47
5.2 模糊區域強健控制器設計 47
5.3 電腦模擬 49
5.3.1 調變比較 49
5.3.2 抗干擾比較 59
5.3.3 追蹤階梯信號比較 65
第六章 結論 72
參考文獻 73

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