臺灣博碩士論文加值系統

在本論文中，針對狀態延遲與輸入延遲的不確定系統提出一個適應模糊積分滑動模式控制器。輸入延遲的問題將會造成系統的不穩定。為了處理這個問題，我們使用狀態轉換的方法來消除輸入延遲。因此，轉換後的系統將不具有輸入延遲的現象。根據Lyapunov穩定度的原理，我們設計一個適應模糊滑動模式控制器，使得系統為漸進穩定。附帶一提，我們使用適應模糊的方法來估測及客服系統的不確定性及擾動項。最後，我們提出一些例子來驗證本文所提出的控制器對此系統的有效性。

In this thesis, an adaptive fuzzy integral sliding mode controller for uncertain systems with state and input delays is proposed. The problem of input delay will cause instability of the system. In order to treat this problem, we use the method of state transformation to eliminate the input delay. Therefore, the transformed system is free of input delay. Based on Lyapunov stability theorem, we will design an adaptive fuzzy integral sliding mode controller to ensure the system can be asymptotically stable. In addition, the use of adaptive fuzzy technique is to estimate the upper bound of the lumped perturbation. Simulation results are presented to demonstrate the feasibility of the proposed control scheme.

ABSTRACT (IN CHINESE) ………………………………………………………....i
ABSTRACT (IN ENGLISH) ………………………………………………………..ii
ACKNOWLEDGEMENT …………………………………………………………..iii
TABLE OF CONTENTS ........................................................………………………iv
LIST OF FIGURES ……………………………………………………………….....v
CHAPTER
I. INTRODUCTION………………………………………………………...1
II. SYSTEM DESCRIPTION ……………………………………………….4
2.1 State Transformation ………………………………………………...5
III. DESIGN OF THE ADAPTIVE FUZZY INTEGRAL SLIDING MODE CONTROLLER …………………………………………………………..7
3.1 Design of Integral Sliding Mode Controller …………………………7
3.2 Fuzzy Logic Systems ……………………………………………….11
3.3 Design of the Adaptive Fuzzy Integral Sliding Mode controller …...12
IV. SIMULATION RESULTS ………………………………………………24
V. CONCLUSIONS ………………………………………………………...33
REFERENCES ..……………..……………………………………………………...34
Appendix A.………………………………………………………………………….38
Appendix B ………………………………………………………………………….40

[1]J. H. Ge, P. M. Frank, and C .F Lin, “Robust H∞ state feedback control for linear systems with state delay and parameter uncertainty,” Automatica., vol. 32, no. 8, pp. 1183-1185, 1996.
[2]M. S. Mahmoud and N .F. Al-Muthairi, “Quadratic stabilization of continuous time systems with state-delay and norm-bounded time-varying uncertainties,” IEEE Trans. Automat. Contr., vol. 39, no. 11, pp. 2135-2139, 1994.
[3]S. H. Esfahani and I. R. Petersen, “An LMI approach to output feedback guaranteed cost control for uncertain time-delay systems,” Int. J. Robust and Nonlinear Control., vol. 10, no. 3, pp. 157-174, 2000.
[4]C. E. de Souza and X. Li, “Delay-dependent robust H∞ control of uncertain linear state-delayed systems,” Automatica., vol. 35, no. 7, pp. 1313-1321, 1999.
[5]E. Cheres, S. Gutman, and Z. J. Palmor, “Stabilization of uncertain dynamic systems including state delay,” IEEE Trans. Automat. Contr., vol. 34, no. 11, pp.1199-1203, 1989.
[6]K. K. Shyu and J. J. Yan, “Robust stability of uncertain time delay systems and its stabilization by variable structure control,” Int. J. Control., vol. 57, pp. 237-246, 1993.
[7]P. Kachroo, “Existence of solution to a class of nonlinear convergent chattering-free sliding mode control systems,” IEEE Trans. Automat. Contr., vol. 44, no. 8, pp. 1620-1624 1999.
[8]P. Kachroo and M. Tomizuka, “Chattering reduction and error convergence in the sliding mode control of a class of nonlinear systems,” IEEE Trans. Automat. Contr., vol. 41 no. 7, pp.1063-1068, 1996.
[9]V. I. Utkin, Sliding Modes and their Application in Variable Structure Systems, MIR, Moscow, 1978.
[10]C. H. Chou and C. C. Cheng, “Design of adaptive structure controllers for perturbed time-varying state delay systems,” J. Franklin Inst., vol. 338, no. 1, pp. 35-46, 2001.
[11]C. W. Tao, M. L. Chan, and W. Y. Wang, “Robust control of the mismatched systems with the fuzzy integral sliding controller,” Systems, Man and Cybernetics, 2003. IEEE International Conference on , vol. 4, pp. 3657 - 3662, 2003.
[12]A. Poznyak, L. Fridman, and F. J. Bejarano, “Mini-max integral sliding-mode control for multimodel linear uncertain system,” IEEE Trans. Automat. Contr., vol. 49, no. 1, pp.97-102, 2004.
[13]C. P. Hung, “Integral variable structure control of nonlinear system using a CMAC neural network learning approach,” IEEE Trans. Syst., Man. Cybern., B., vol. 34, no. 1, pp. 702-709, 2004.
[14]L. X. Wang, Adaptive Fuzzy Systems and Control: Design and Stability Analysis, Prentice Hall, Englewood Cliffs, New Jersey, 1994.
[15]Y. C. Chang, “Adaptive fuzzy-based tracking control for nonlinear SISO systems via VSS and approach,” IEEE Trans. Fuzzy Syst., vol. 9, no. 2, pp. 278-292, 2001.
[16]H. X. Li and S. Tong, “A hybrid adaptive fuzzy control for a class of nonlinear MIMO systems,” IEEE Trans. Fuzzy Syst., vol. 11, no. 1, pp. 24-34, 2003.
[17]Y. Liu and X. Y. Li, “Robust adaptive control of nonlinear systems with unmodelled dynamics,” IEE Proc.-Control Theory Appl., vol. 151, no. 1, pp. 83-88, 2004.
[18]C. C. Kung, T. H. Chen, and L. H. Kung, “Modified adaptive fuzzy sliding mode controller for uncertain nonlinear systems,” IEICE Trans. Fundamentals, vol. E88-A, pp. 1328-1334, 2005.
[19]C. C. Kung and T. H. Chen, “Observer-based indirect adaptive fuzzy sliding mode control with state variable filters for unknown nonlinear dynamical systems,” Fuzzy Sets and Systems, vol. 155, pp. 292-308, 2005.
[20]Y. Xia, and Y. Jia, “Robust sliding-mode control for uncertain time-delay systems: an LMI approach,” IEEE Trans. Automat. Contr., vol. 48, no. 6, pp.1086-1092, 2003.
[21]S. Oucheriah, “Exponential stabilization of linear delayed systems using sliding-mode controllers.” IEEE Trans. Circuits Syst. I, vol. 50, no. 6, pp.826-830, 2003.
[22]C. T. Chen, and S. T. Peng; “A predictor-based sliding mode control strategy for nonlinear uncertain input-delay processes,” Control Conference, 2004. 5th Asian, vol. 3, pp. 1973-1981, 2004.
[23]S. C. Qu, and Y. J. Wang; “Sliding mode control for a class of uncertain input-delay systems,” Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on, vol. 2, pp. 1184-1186, 2004
[24]S. A. Al-Shamali, O. D. Crisalle, and H.A Latchman, “An approach to stabilize linear systems with state and input delay,” American Control Conference, 2003. Proceedings of the 2003, vol. 1, pp. 875-880, 2003
[25]D. S. Yoo, and M. J. Chung, “A variable structure control with simple adaptation laws for upper bounds on the norm of the uncertainties,” IEEE Trans. Automat. Contr., vol. 37, no. 6, pp.860-865, 1992.
[26]Z. Artstein, “Linear systems with delayed controls: a reduction,” IEEE Trans. Automat. Contr., vol. 27, no. 4, pp.869-878, 1982.
[27]T. Mori, K. Funkuma, and M Kueahara, “Simple stability criteria for single and composite linear systems with time delays,” Int. J. Control., vol. 34, no. 6, pp 1175-1184, 1981.
[28]J. J. E. Slotine, and W. Li, Applied Nonlinear Control, Prentice Hall, Englewood Cliffs, New Jersey, 1991.
[29]W. A. Coppel, Stability and asymptotic behavior of differential equations, Heath, Boston, 1965.
[30]R. Bellman and K. L. Cooke, Differential-Difference Equations, Academic Press, New York, 1963.
[31]L. E. El’sgol’ts, and S. B. Norkin, Introduction on the Theory and Application of Differential Equations with Deviating Arguments, Academic Press, New York, 1973.
[32]V. Lakshmikantham, and S. Leela, Differential and Integral Inequalities, Academic Press, New York, 1969.