臺灣博碩士論文加值系統

近來，非線性H-infinity控制策略已經被應用到非線性強健控制設計的問題上。但是針對非線性H-infinity控制，設計者必須去解Hamilton-Jacobi方程式(或不等式)，而此方程式為一非線性偏微分方程式，只有少數特殊非線性系統有解。一般而言，傳統的非線性H-infinity控制策略不適用於實際控制系統的設計。本論文提出利用Takagi和Sugeno模糊模式來解決非線性H-infinity控制問題。本文所提出的方法可將非線性H-infinity控制問題化簡為線性矩陣不等式的問題來解決。線性矩陣不等式的問題可輕易地使用凸集合最佳化技巧解決。本文亦利用線性矩陣不等式的技巧提出一套有系統的步驟來解決模糊非線性H-infinity控制問題。除此之外，本文亦將所得的結果推展到分散式H-infinity控制來解決非線性互相連接之系統，並將此結果實際應用到一多軸機械控制系統的實現。本文的主要貢獻有(一)將非線性H-infinity控制問題以模糊控制的方式來解決，首先將一非線性系統用模糊模式來表示，接著針對此模糊模式來設計H-infinity模糊控制器。同時狀態迴授和輸出迴授此二例均有探討。本文所提出方法的優點是利用簡單的模糊控制器就能達到H-infinity的控制目標。(二)本文亦將分散式模糊控制方法推展到解決非線性互相連接系統。(三)本文將分散式模糊控制法則實際應用到一多軸機械系統並將它實現。再者，本文所提出之方法除了能達成H-infinity控制外，閉迴路的穩定性亦能保證。

Recently, the nonlinear H-infinity control schemes have been
introduced to deal with the robust performance design problem of
nonlinear systems. However, the designer has to solve a
Hamilton-Jacobi equation, which is a nonlinear partial
differential equation. Only some very special nonlinear
systems have a closed form solution. In general, conventional nonlinear
H-infinity control schemes are not suitable for practical
control system design. Based on the Takagi and Sugeno (TS) fuzzy
model, both state feedback and output feedback decentralized
fuzzy tracking control designs with a guaranteed H-infinity
tracking performance will be addressed in this dissertation for a
multi-arm system. A fuzzy observer-based control design will be
employed to deal with the output feedback control problem. By the
proposed method, the outcome of the fuzzy tracking control design
problem can be parameterized in terms of a linear matrix
inequality problem (LMIP) or an eigenvalue problem (EVP). The
LMIP or EVP can be solved very efficiently using the convex
optimization techniques. Systematical design procedure using LMI
techniques is proposed to implement the H-infinity fuzzy
tracking control problems. The results of the proposed
H-infinity decentralized fuzzy tracking controller are applied
to a multi-arm system. The main results are summarized as
follows: First, this dissertation introduces a fuzzy control
design method for nonlinear systems with a guaranteed
H-infinity model reference tracking performance. First, the
Takagi and Sugeno (TS) fuzzy model is employed to approximate a
nonlinear system. Next, based on the fuzzy model, a fuzzy
controller is developed to reduce the tracking error as small as
possible for all bounded reference inputs. If the state variables
are unavailable, a fuzzy observer-based tracking control design
is also developed. The advantage of proposed tracking control
design is that only a simple linear fuzzy controller is used in
our approach without complicated feedback linearization technique
and adaptive scheme. By the proposed method, the fuzzy tracking
control design problem is parameterized in terms of a linear
matrix inequality problem (LMIP). The LMIP can be solved very
efficiently using the convex optimization techniques. Simulation
examples are given to illustrate the design procedures and
tracking performance of the proposed method. Second, it is not
easy to design an H-infinity decentralized controller for
nonlinear interconnected systems in general. In this
dissertation, the tracking control problem of nonlinear
interconnected systems is studied via H-infinity decentralized
fuzzy control method. Similarly, the nonlinear interconnected
system is represented by an equivalent Takagi-Sugeno type fuzzy
model. A state feedback decentralized fuzzy control scheme is
developed to achieve the H-infinity tracking performance.
Furthermore, the stability of the nonlinear interconnected
systems is also guaranteed. This design problem is equivalent to
solving an eigenvalue problem (EVP). Third, due to the physical
configuration and high dimensionality of the constrained
multibody systems, a centralized fuzzy control is neither
efficient nor even necessary. Therefore, a decentralized fuzzy
control scheme is more suitable for the constrained multibody
systems. In this dissertation, an H-infinity decentralized fuzzy
tracking control scheme is proposed for a constrained multibody
system. Finally, in order to illustrate the design effectiveness
of the proposed H-infinity decentralized fuzzy tracking control
scheme, an experimental multi-arm system with fully digital
controller is setup to confirm the tracking performance.

封面
1 Introduction
1.1 Motivation and Related Resesrches
1.2 Contribution of the Dissertation
1.3 Organization of the Dissertation
2 H∞ Fuzzy Tracking Control Design for Nonlinear Dynamic Systems via TS Fuzzy Model
2.1 Problem Formulation
2.2 Fuzzy Tracking Control Design
2.3 Fuzzy Observer-Based Tracking Control Design
2.4 Simulation Examples
2.5 Conclusions
3 H∞Fuzzy Decentralized Tracking Control Design for Nonlinear Interconnected Systems
3.1 Problem Formulation
3.2 Decentralized Tracking Control of Interconnected Systems
3.3 Decentralized Observer Synthesis for Nonlinear Interconnected Systems
3.4 simulation Examples
3.5 Conclusions
4 H∞Decentralized Fuzzy Tracking Control Design for Constrained Mulitibody System
4.1 Dynamics of Constrained Multibody Systems
4.2 Identifieation of Tackagi-Sugeno Fuzzy Model for Constrained Multibody Systems
4.3 H∞Decentralized Fuzzy Tracking Control Design of Constrained Multibody Systems
4.4 Conclusion Remarks
5 Implementation of H∞ Decentralized Fuzzy Tracking Control Design for Constrained Multibody Systems
5.1 Intrduction to Mechanical Systems
5.2 Hardware Implementation: Actuators, Drivers, Encoder and Computer-Based Controller
5.3 Software Implementation: Programming PMAC2
5.4 Experimental Results
5.5 Conclusion Remarks
6 Conclusions and Suggestions of Future Researches
6.1 Conclusions
6.2 Suggestions of Future Researches

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