臺灣博碩士論文加值系統

本論文提出一個適應性智慧型間接控制系統為主架構，並應用於混沌系統與非線性系統之追蹤控制上。本論文所設計的適應性智慧型間接控制系統是由兩個系統共同組成，其一是以步階迴歸控制來做為主要控制器，並利用模糊小腦模型控制器網路與遞迴模糊小腦模型控制器網路來近似系統的動態模型，接著將利用一個強健性 控制器來實現系統的強健性，其目的是設計用來削弱剩餘近似誤差、外部干擾之預期衰減程度。此外，適應性智慧型間接控制系統的所有線上適應性學習法則，均根據Lyapunov穩定理論、泰勒線性化技術、步階迴歸控制技巧和強健性 控制理論加以分析推導，使得控制系統的追蹤性能與穩定性可以得到保證。最後，藉由Duffing-Holmes混沌系統、Genesio混沌系統、倒單擺系統和Chua’s混沌系統的追蹤控制模擬結果，來證明本論文所提出之控制系統架構能夠有效的達到良好的追蹤性能與強健性。

In this thesis, an adaptive intelligent indirect control system is developed for the uncertain nonlinear systems. This proposed control system is composed of two systems. One is a backstepping control system utilized as the main controller, in which an adaptive recurrent fuzzy cerebellar model articulation controller neural network is designed to identify the dynamics of the system models. Another one is a robust controller utilized to achieve system’s robust characteristics, which is designed to attenuate the effect of the residual approximation errors and external disturbances with desired attenuation level. Moreover, the all adaptation laws of the adaptive intelligent indirect control system are derived based on the Lyapunov stability analysis, the Taylor linearization technique, backstepping control technique and control theory, so that the stability of the closed-loop system and tracking performance can be guaranteed. Finally, the proposed control system is applied to control a Duffing-Holmes chaotic system, a Genesio chaotic system, an inverted pendulum system and Chua’s chaotic system. From the simulation results, it is verified that the proposed control scheme can achieve favorable tracking performance for these nonlinear systems.

目 錄
中文摘要.............................................. i
英文摘要.............................................. ii
誌謝.................................................. iii
目錄.................................................. iv
圖目錄................................................ vi
第一章　緒論.......................................... 1
1.1　研究背景與動機................................... 1
1.2　研究方法......................................... 2
1.3　論文大綱......................................... 2
第二章　遞迴模糊小腦模型控制器網路.................... 4
2.1　原始小腦模型歷史................................. 4
2.1.1　原始小腦模型控制器網路......................... 5
2.2　模糊小腦模型控制器網路........................... 9
2.3　遞迴模糊小腦模型控制器網路....................... 12
第三章　混沌系統之適應性步階迴歸遞迴模糊小腦模型追蹤控制 ............................................. 15
3.1　混沌系統描述..................................... 15
3.2　步階迴歸控制系統設計............................. 15
3.3　適應性步階迴歸模糊小腦模型追蹤控制系統設計....... 19
3.4　模擬分析......................................... 23
3.4.1　Duffing-Holmes混沌系統與實驗................... 23
3.4.2　Genesio混沌系統與實驗.......................... 40
3.5　結論............................................. 49
第四章　非線性系統之適應性步階迴歸遞迴模糊小腦模型追蹤控制 ............................................. 50
4.1　非線性系統描述................................... 50
4.2　步階迴歸控制系統設計............................. 50
4.3　適應性步階迴歸遞迴模糊小腦模型追蹤控制系統設計... 53
4.4　模擬與分析....................................... 59
4.4.1　倒單擺系統模擬................................. 60
4.4.2　Chua’s chaotic系統模擬........................ 65
4.5　結論 ............................................. 72
第五章　結論.......................................... 73
參考文獻.............................................. 74

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