模糊滑動控制使用適應性方法應用於倒單擺系統之研究; Application of Fuzzy Sliding Mode Controller Via Adaptive Method in Inverted Pendulum Systems

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Title:	模糊滑動控制使用適應性方法應用於倒單擺系統之研究;Application of Fuzzy Sliding Mode Controller Via Adaptive Method in Inverted Pendulum Systems
Authors:	林泓濱;Hung-Ping Lin
Contributors:	電機工程研究所
Keywords:	模糊滑動控制;倒單擺系統;適應性方法;Adaptive Method;Fuzzy Sliding Mode Controller;Inverted Pendulum Systems
Date:	2005-06-06
Issue Date:	2009-09-22 11:55:58 (UTC+8)
Publisher:	國立中央大學圖書館
Abstract:	模糊滑動控制使用適應性方法應用於倒單擺系統之研究摘要在本篇論文中，針對單輸入單輸出的非線性系統與多輸入多輸出的非線性系統分別設計適應性模糊邏輯控制器並以李阿普若夫Lyapunov穩定定理證明系統的穩定性，並推導出用來調整後件部歸屬函數參數的適應性演算法。在單輸入單輸出非線性系統中將介紹一結合理論分析與物理現象為基礎的解耦滑動模式控制器。運用去耦的概念，可將上述系統的各個子系統分開考慮，然後再利用一媒介變數(intermediate variable)來傳遞子系統間的訊息。如此一來，不需要將整個系統轉換成標準形式，只要用其中一個子系統的滑動模式控制器做為基底，再利用媒介變數所傳來的訊息調整滑動模式控制器的輸出，就可以控制整個系統。在多輸入多輸出非線性系統中也是藉由Lyapunov穩定定理證明系統的穩定性，並推導出用來調整後件部歸屬函數參數的適應性演算法，在這過程需考慮子系統彼此的交接項。這些非線性系統同時也考量了盲區(dead zone)的設計讓所推導出來的適應律更具有強健性。最後將所設計出來的控制器應用於倒單擺系列系統(如單軸滑車倒單擺、雙軸串聯滑車倒單擺、彈簧連結雙軸倒單擺系統、二維倒單擺系統)。 Application of Fuzzy Sliding Mode Controller Via Adaptive Method in Inverted Pendulum Systems Abstract The paper will address the problem of controlling an unknown single-input-single-output (SISO) and multi-input-multi-output (MIMO) nonlinear system. A fuzzy sliding mode controller (FSMC) is used to approximate the equivalent control via an on-line fuzzy adaptation scheme, and the hitting control is appended to show that the proposed FSMC control with dead zone can result in a stable closed-loop system. This scheme also provides the designers flexibility to design and to implement the fuzzy rule base without domain experts and without mathematical model. The robust adaptive scheme is shown to be able to guarantee that the output tracking error can converge to a residual set ultimately in inverted pendulum systems (single-inverted pendulum system、double-inverted pendulum system、spring-linked two cart-pole systems 、two-dimensional inverted pendulum system).
Appears in Collections:	[Graduate Institute of Electrical Engineering] Electronic Thesis & Dissertation

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