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研究生:楊志欽
研究生(外文):Chih-chin Yang
論文名稱:具有一個未知截止區的不確定非線性系統之適應模糊模式化控制
論文名稱(外文):ADAOTIVE FUZZY MODELING CONTROL OF UNCERTAIN NONLINEAR SYSTEMS WITH AN UNKNOWN DEAD-ZONE
指導教授:江江盛
指導教授(外文):Chiang-cheng Chiang
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:2005
畢業學年度:93
語文別:英文
論文頁數:49
中文關鍵詞:可變結構控制李亞普諾夫穩定定理強健適應模糊控制截止區非線性系統
外文關鍵詞:dead-zoneLyapunov stability theoremnonlinear systemrobust adaptive fuzzy controlvariable structure control
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本論文針對具有未知截止區的一些不確定非線性系統,提出一個強健適應模糊控制方法。由於截止區的特徵在致動器中是相當容易發生的,例如電子伺服電動機、水力伺服活門和氣動活門;因此,根據使用截止區的定義敘述,直覺地並且以數學的描述去探索截止區模型的特性,在沒有建立截止區反函數的情況下,提出一套強健適應模糊控制器之設計法則。藉由適應模糊的方法去近似受控系統中未知的非線性函數,並且基於李亞普諾夫穩定定理及可變結構控制理論,本論文將提出強健適應模糊滑動模式控制法則,不僅可以確保整個閉迴路系統在致動器中產生截止現象的情況下之穩定性,同時可以讓非線性系統的輸出能夠有效地追蹤所指定的參考信號,以便獲得良好的追蹤性能。最後,對於所提出之控制器設計方法,本論文將以例題和電腦模擬結果來說明並驗證其有效性。
In this thesis, a robust adaptive fuzzy control scheme is proposed for a class of uncertain nonlinear systems preceded by an unknown dead-zone. Dead-zone characteristics are quite commonly encountered in actuators, such as hydraulic and pneumatic valves, electric servomotors, and electronic circuits, etc. Therefore, by using a description of a dead-zone and exploring the properties of this dead-zone model intuitively and mathematically, a robust adaptive fuzzy control method is presented without constructing the dead-zone inverse. The unknown nonlinear functions of the plant are approximated by the fuzzy logic system according to some adaptive laws. Based on Lyapunov stability theorem and the theory of variable structure control, the proposed robust adaptive fuzzy sliding mode control scheme can guarantee the robust stability of the whole closed-loop system with an unknown dead-zone in the actuator and obtain good tracking performance as well. Finally, some examples and simulation results are provided to illustrate the versatility and performance of the proposed method.
TABLES OF CONTENTS

ACKNOWLEDGEMENTS................................................................................................i
ENGLISH ABSTRACT….................................................................................................ii
CHINESE ABSTRACT…………………........................................................................iii
TABLE OF CONTENTS..................................................................................................iv
LIST OF FIGURES...........................................................................................................vi
CHAPTER
1 INTRODUCTION..........................................................................................1
2 PROBLEM STATEMENT AND PRELIMINARIES.................................4
2.1 Problem Statement....................................................................................4
2.2 Description of Fuzzy Logic Systems........................................................6
3 CONTROLLER DESIGN AND STABILITY ANALYSIS.........................9
3.1 Robust Adaptive Fuzzy Control Design.................................................10
3.2 Robust Adaptive Fuzzy Sliding Mode Control Design..........................18
4 RESULTS OF SIMULATION.....................................................................27
4.1 A Second-Order Nonlinear System…....................................................27
4.1.1 Case 1: Robust Adaptive Fuzzy Control Approach.......................28
4.1.2 Case 2: Robust Adaptive Fuzzy Sliding Mode Control
Approach......................................................................................32
4.2 An Inverted Pendulum System...............................................................36
4.2.1 Case 1: Robust Adaptive Fuzzy Control Approach.......................37
4.2.2 Case 2: Robust Adaptive Fuzzy Sliding Mode Control
Approach......................................................................................41
5 CONCLUSIONS AND FURTHER RESEARCHES.................................46
5.1 Conclusions............................................................................................46
5.2 Further Researches.................................................................................46
REFERENCES.................................................................................................................47
TABLES OF CONTENTS

ACKNOWLEDGEMENTS................................................................................................i
ENGLISH ABSTRACT….................................................................................................ii
CHINESE ABSTRACT…………………........................................................................iii
TABLE OF CONTENTS..................................................................................................iv
LIST OF FIGURES...........................................................................................................vi
CHAPTER
1 INTRODUCTION..........................................................................................1
2 PROBLEM STATEMENT AND PRELIMINARIES.................................4
2.1 Problem Statement....................................................................................4
2.2 Description of Fuzzy Logic Systems........................................................6
3 CONTROLLER DESIGN AND STABILITY ANALYSIS.........................9
3.1 Robust Adaptive Fuzzy Control Design.................................................10
3.2 Robust Adaptive Fuzzy Sliding Mode Control Design..........................18
4 RESULTS OF SIMULATION.....................................................................27
4.1 A Second-Order Nonlinear System…....................................................27
4.1.1 Case 1: Robust Adaptive Fuzzy Control Approach.......................28
4.1.2 Case 2: Robust Adaptive Fuzzy Sliding Mode Control
Approach......................................................................................32
4.2 An Inverted Pendulum System...............................................................36
4.2.1 Case 1: Robust Adaptive Fuzzy Control Approach.......................37
4.2.2 Case 2: Robust Adaptive Fuzzy Sliding Mode Control
Approach......................................................................................41
5 CONCLUSIONS AND FURTHER RESEARCHES.................................46
5.1 Conclusions............................................................................................46
5.2 Further Researches.................................................................................46
REFERENCES.................................................................................................................47
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2. 基於觀察器針對具有飽和輸入的嚴格回授不確定非線性系統之參考模型滑動模式控制方法
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11. 針對具有飽和輸入的切換不確定非線性系統之適應模糊輸出回授滑動模式控制
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