可適性模糊滑動控制器之設計與應用
研究生：廖元懋指導教授：林志民 教授
元智大學電機工程研究所
摘 要
當我們用傳統方法來設計控制器時，必須知道系統的數學模式。但是系統如果過於複雜或數學模式無法精確表達時，模糊控制是一個很好的設計方法。模糊邏輯控制器非常適合應用在多變數非線性系統含複雜且不易由傳統控制方法實現的控制器設計上。
本文提出「可適性模糊滑動控制器」的設計方法，利用模糊邏輯的觀念來改善傳統滑動控制器訊號切換的問題；同時利用滑動模式的方法來減少模糊規則的數目；本方法導出適應性法則來自動調整模糊規則的權值。
所提出的可適性模糊滑動控制器將應用到有路面狀態改變之單輸入單輸出防鎖死剎車系統，及有方向舵毀壞之多輸入多輸出飛行控制系統。模擬驗證結果顯示，系統的控制性能可以得到改善，並且具備了穩定性及強健性的特色。

Adaptive Fuzzy Sliding-mode Controller
Design and Its Application
Student：Yuan-Mao LiaoAdvisors：Professor Chih-Min Lin
Institute of Electrical Engineering
Yuan-Ze University
ABSTRACT
For traditional control system design, the mathematical model of the system must be known. For systems which are complex or difficult to model, fuzzy control is an efficient design technique. Fuzzy logic controller is very suitable for multi-input multi-output nonlinear systems with the controller which is complex and is not easy to realize by the classical design method.
An adaptive fuzzy sliding-mode controller design method was proposed in this thesis. The fuzzy logic method is applied to avoid the chattering control signal in conventional sliding-mode controller. The sliding-mode method is applied to reduce the number of fuzzy rules. And the adaptive law is derived to adjust the weightings of fuzzy rules.
The proposed adaptive fuzzy sliding-mode control design method has been applied to a single-input single-output antilock braking system with various road conditions and a multi-input multi-output flight control system with rudder damage case. Simulation results demonstrate that the system performance has been improved sufficiently and the stability and robustness properties are also possessed.

Contents
書名頁 i
論文口試委員審定書 ii
授權書 iii
中文摘要 iv
Abstract v
誌謝 vi
List of Contents vii
List of Figures ix
Nomenclature x
1. Introduction 1
1.1 General Remark and Overview of Previous Work1
1.2 Motivation and Contribution 2
1.3 Scope and Organization of the Thesis 3
2. Adaptive Fuzzy Sliding-mode Controller Design4
2.1 Basic Structure of Fuzzy Logic Control Systems4
2.2 Basic of Sliding-Mode Control System 6
2.3 Fuzzy Sliding-Mode Control System 7
2.4 Adaptive Fuzzy Sliding-Mode Controller Design8
2.5 Summary 16
3. AFSMC Design for Antilock Braking System 17
3.1 Overview 17
3.2 Problem Formulation 17
3.3 Sliding-Mode Controller Design 20
3.4 Adaptive Fuzzy Sliding-Mode Controller Design22
3.5 Simulation Results 24
3.6 Summary 26
4. AFSMC Design for MIMO Flight Control System37
4.1 Overview 37
4.2 Problem Formulation 38
4.3 Sliding-Mode Controller Design 41
4.4 Adaptive Fuzzy Sliding-Mode Controller Design43
4.5 Simulation Result 44
4.6 Summary 45
5. Conclusions and Suggestions for Future Study54
5.1 Conclusions 54
5.2 Suggestions for Future Study 54
References 56

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