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研究生:陳君瑋
研究生(外文):Chun-Wei Chen
論文名稱:針對具未定性之非線性系統設計以距離為基礎之模糊滑動模式控制器
論文名稱(外文):The Design of Distance-Based Fuzzy Sliding Mode Controller for a Class of Nonlinear Uncertain Systems
指導教授:游文雄
指導教授(外文):Wen-Shyong Yu
學位類別:碩士
校院名稱:大同大學
系所名稱:電機工程學系(所)
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2004
畢業學年度:92
語文別:英文
論文頁數:41
中文關鍵詞:模糊滑動模式控制軌跡追蹤符號距離理普諾夫穩定
外文關鍵詞:fuzzy sliding mode controlLyapunov stabilitysigned distancetrajectory tracking
相關次數:
  • 被引用被引用:0
  • 點閱點閱:106
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  • 下載下載:15
  • 收藏至我的研究室書目清單書目收藏:1
在本篇論文中, 我們將針對具未定性之非線性系統,提出一套模糊滑動控制(FSMC),使其能達到預設的軌跡追蹤。
此預設軌跡是建立在一長串片段連續操作滑動平面上。
接著,我們針對此系統利用單一輸入模糊邏輯的方法,在模糊控制器中將符號距離當成是單一的輸入變數,使系統的狀態依序跟隨著滑動平面而達到控制的目的,而且也可以降低外在的擾動影響,我們稱此方法為以距離為基礎之模糊滑動模式控制器(D-FSMC)。
另外, 我們也提出一個使用兩個符號距離來做模糊控制的方法,藉著使用這個方法,軌跡追蹤響應的誤差將會比以單一的輸入變數模糊控制器的方法還要來的小。
除此之外, 我們將藉由理普諾夫函數來保證系統的穩定性,並計算出每個滑動平面所需之追蹤時間,也包括了到達時間。
最後, 我們將針對一具外在擾動的倒單擺控制系統來作系統模擬, 以驗證D-FSMC的可行性.
In this thesis, we present an algorithm using fuzzy sliding mode control (FSMC) to achieve the prespecified trajectory for a class of nonlinear systems.
The trajectory is based on a set of sequentially-operated piecewise sliding surfaces.
We not only adopt the signed distance as the unique input variable but also present a method of two signed distance for the fuzzy controller, which is called the distance-based fuzzy sliding mode controller (D-FSMC), to control the plant so that the state would follow the sliding surfaces in turn and the parametric uncertainties or disturbances can be reduced effectively.
By using the two signed distance for the fuzzy controller, the response of the tracking error will be small than that of the unique input variable.
Furthermore, we can explicitly calculate the total tracking time for each surface including the hitting time.
It is shown that the stability of the control system is guaranteed in the Lyapunov sense.
Finally, an inverted pendulum control problem subject to external disturbance is simulated to demonstrate the validity of the proposed D-FSMC.
ABSTRACT(IN CHINESE) I
ABSTRACT(IN ENGLISH) II
1. INTRODUCTION 1
2. DISTANCE-BASE FUZZY LOGIC CONTROLLER 4
2.1 Fuzzy logic control 4
2.2 Distance-based fuzzy logic control 6
2.3 Properties of D-FLC 9
3. THE PIECEWISE FUZZY SLIDING MODE CONTROL 10
3.1 Sliding mode controller design 10
3.2 Piecewise D-FSMC 12
3.3 Two signed distance controller design 16
4. PROPERTIES OF PIECEWISE D-FSMC 18
4.1 Tracking path 18
4.2 Consideration of the tracking time 20
5. SIMULATION 25
5.1 Example: Inverted-pendulum 25
6. CONCLUSIONS 37
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