博碩士論文 88521026 詳細資訊




以作者查詢圖書館館藏 以作者查詢臺灣博碩士 以作者查詢全國書目 勘誤回報 、線上人數:11 、訪客IP:18.210.28.227
姓名 蔡俊賢(Chun-Hsien Tsai )  查詢紙本館藏   畢業系所 電機工程研究所
論文名稱 類神經滑動模式控制及其在倒三角體系統之應用
(Neuro-Sliding Mode Control with Its Applications to Seesaw Systems)
相關論文
★ 影像處理運用於家庭防盜保全之研究★ 適用區域範圍之指紋辨識系統設計與實現
★ 頭部姿勢辨識應用於游標與機器人之控制★ 應用快速擴展隨機樹和人工魚群演算法及危險度於路徑規劃
★ 智慧型機器人定位與控制之研究★ 基於人工蜂群演算法之物件追蹤研究
★ 即時人臉偵測、姿態辨識與追蹤系統實現於複雜環境★ 基於環型對稱賈柏濾波器及SVM之人臉識別系統
★ 改良凝聚式階層演算法及改良色彩空間影像技術於無線監控自走車之路徑追蹤★ 模糊類神經網路於六足機器人沿牆控制與步態動作及姿態平衡之應用
★ 四軸飛行器之偵測應用及其無線充電系統之探討★ 結合白區塊視網膜皮層理論與改良暗通道先驗之單張影像除霧
★ 基於深度神經網路的手勢辨識研究★ 人體姿勢矯正項鍊配載影像辨識自動校準及手機接收警告系統
★ 模糊控制與灰色預測應用於隧道型機械手臂之分析★ 模糊滑動模態控制器之設計及應用於非線性系統
檔案 [Endnote RIS 格式]    [Bibtex 格式]    [相關文章]   [文章引用]   [完整記錄]   [館藏目錄]   [檢視]  [下載]
  1. 本電子論文使用權限為同意立即開放。
  2. 已達開放權限電子全文僅授權使用者為學術研究之目的,進行個人非營利性質之檢索、閱讀、列印。
  3. 請遵守中華民國著作權法之相關規定,切勿任意重製、散佈、改作、轉貼、播送,以免觸法。

摘要(中) 本論文將探討傳統滑動模式控制跟類神經網路的相互結合,並實際應用在一個倒三角體的非線性不穩定系統上。在傳統的滑動模式控制必須了解系統的動態方程式及其參數,才可針對所需要求做設計,但實際上系統的動態方程式及參數並不是很容易求得的。因此我們便設計了兩個平行處理的神經網路,其輸出分別去取代滑動控制的等量控制及誤差控制,並利用了最陡梯度法去調整神經網路的權重值。最後可發現在傳統滑動模式控制中最容易產生的抖動現象及誤差皆可以消除,並且保有滑動模式控制所擁有延著滑動平面趨向平衡點的特性。
摘要(英) In this paper, we will propose a cooperative control approach that is based on combination of Neural Networks and Sliding Mode Control (SMC) methodology. The main purpose is to eliminate the chattering phenomenon. Furthermore, the system performance obtained via the method of SMC can be improved. In the present approach, two parallel Neural Networks are utilized to realize a Neuro-Sliding Mode Control (NSMC). The equivalent control and the corrective control in terms of Sliding Mode Control are the outputs of the Neural Networks. The weights adaptations of Neural Network are determined based on the Sliding Mode Control equations. Then, the gradient descent method is used to minimize the control force so that chattering phenomenon can be eliminated.
關鍵字(中) ★ 倒三角體
★  模動模式
★  類神經
關鍵字(英) ★ Neural
★  Seesaw
★  Sliding
論文目次 CHAPTER 1 INTRODUCTION
1-1Background......................................1
1-2Motivation and Purpose..........................2
1-3Organization....................................2
CHAPTER 2 SLIDING MODE CONTROL AND NEURAL NETWORK THEORY
2-1 Background..........................................3
2-2 The Basic Description of Sliding Mode Control.......3
2-3 Sliding Mode Controller Design......................4
2-4 The Basic Description of Neural Network.............8
CHAPTER 3 PROBLEM DESCRIPTION AND PROPOSE METHOD
3-1 Problem Description................................10
3-2 The Structure of Neuro-Sliding Mode Controller.....11
3-3 Computation of The Equivalent Control..............12
3-4 Computation of The Corrective Control..............15
CHAPTER 4 EXPERIMENTAL RESULTS AND DISCUSSION
4-1 System Model.......................................19
4-2 The Application Algorithm..........................21
4-3 The Result for Computer Simulation.................25
4-4 The Basic Description of the Software..............30
4-5 The Seesaw Mechanism...............................32
4-6 Results and Discussion.............................37
CHAPTER 5 CONCLUSION AND RECOMMENDATIONS................45
REFERENCES..............................................47
APPENDIX A…………………………………………………………49
參考文獻 [1] J. Y. Hung, W. Gao, J. C. Hung, “Variable Structure Control : A Survey”, IEEE Transactions on Industrial Electronics, vol. 40, no. 1, pp. 2-22, February 1993.
[2] W. Gao, Y. Wang, A. Homaifa, “Discrete-Time Variable Structure Control Systems”, IEEE Transactions on Industrial Electronics, vol. 42, no. 2, pp. 117-122, April 1995.
[3] D. Q. Zhang, S. K. Panda “Chattering-free and Fast-response Sliding Mode Controller”, IEE Proc.-Control Theory Appl., vol. 146, no. 2, pp. 171-177. March 1999.
[4] S. Hui, S. H. ?ak, “On discrete-time Variable Structure Sliding Mode Control”, System&Control Letters 38, pp. 283-288, 1999.
[5] L. k. Wong, F. H. F. Leung, P. K. S. Tam, “A Chattering Elimination Algorithm for Sliding Mode Control of Uncertain Non-linear System”, Mechatronics 8, pp. 765-775, 1998.
[6] Q. P. Ha, D. C. Rye H. F. Durrant-Whyte, “Fuzzy Moving Sliding Mode Control with Application to Robotic Manipulators”, Automatica 35, pp. 607-616, 1999.
[7] Y. P. Chen, “Variable Structure Control Design”, Taipei, Chuan Hwa Science & Technology Book CO., LTD., 1999.
[8] A. ?abanovi?, K. Jezernik, M. Rodi?, “Neural Network Application in Sliding Mode Control Systems“, VSS '96. Proceedings, 1996 IEEE International Workshop on , 1996 , pp. 143 —147.
[9] R. ?afari?, K. Jezernik, M. Rodi?, A. ?abanovi?, “Sliding-Mode Neural Network Robot Controller”, AMC '96-MIE. Proceedings, 1996 4th International Workshop on, vol. 1, pp. 395-400, 1996.
[10] Y. Fang, T. W. S. Chow, X. D. Li, “Use of a Recurrent Neural Network in Discrete Sliding-Mode Control”, Control Theory and Applications, IEE Proceedings, vol. 146, pp. 84-90, 1999.
[11] Y. J. Cao, S. J. Cheng, Q. H. Wu, “Sliding Mode Control of Nonlinear Systems Using Neural Network”, Control '94. International Conference on, 1994, vol. 1, pp. 855-859, 1994.
[12] M. Ertugrul, O. Kaynak, “Neuro-Sliding Mode Control of Robotic Manipulators”, Mechatronics 10, pp. 239-263, 2000.
[13] C. S. Chen and W. L. Chen, “Analysis and Design of Uncertain Nonlinear Systems using Fuzzy Control Logic”, Power Mechanical Engineering, NTHU, 1996.
[14] M. L. Lee, H. Y. Chung, “Hierarchical Fuzzy Control with Applications to Seesaw Systems”, the thesis of the B. S., Electrical Engineering in National Central University, 2000.
指導教授 鍾鴻源(Hung-yuan Chung) 審核日期 2001-6-28
推文 facebook   plurk   twitter   funp   google   live   udn   HD   myshare   reddit   netvibes   friend   youpush   delicious   baidu   
網路書籤 Google bookmarks   del.icio.us   hemidemi   myshare   

若有論文相關問題,請聯絡國立中央大學圖書館推廣服務組 TEL:(03)422-7151轉57407,或E-mail聯絡  - 隱私權政策聲明