博碩士論文 93323099 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:22 、訪客IP:3.238.36.32
姓名 謝東原(Tung-Yuan Hsieh)  查詢紙本館藏   畢業系所 機械工程學系
論文名稱 動態模糊系統最佳化響應與穩定性之控制
(Fuzzy dynamic systems with stability constraints using LMI approach)
相關論文
★ 新型扭力測量器之設計與製作★ 結構系統動態行為之系統建模與識別
★ 滑動模式控制在追蹤問題的應用方法改良★ 加速電子秤讀取之硬體設計與系統鑑別
★ 數位訊號處理器於磁浮系統控制之應用★ 移動載重在無限長樑上對地表振動之影響
★ CNC系統不連續NURBS曲線之處理★ 非線性振動系統之動態分析及系統判別
★ CNC切削工具機使用Mastercam系統後對於2-D平面加工流程之影響與分析★ 六腳機械載具之設計與動態分析
★ 球面機構應用於機器手臂的動態分析★ 四足步行機器人之設計與動態分析
★ 二足機器人之動態平衡分析★ 二足機器人之模糊邏輯ZMP產生器及IC設計
★ 二足機器人之動態步行軌跡分析★ 引擎可變汽門機構動態模擬分析
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]   至系統瀏覽論文 ( 永不開放)
摘要(中) 在本論文裡主要分成三大部分來討論,第一部份介紹了Mamdani模糊系統應用在模糊PI、PD、PI+PD控制器上,藉由專家知識庫的取得與應用,並且搭配了線上型的參數自我調整機制,使系統不僅達到穩定化的狀態而且符合我們要求的暫態響應,還可以使系統存在一定的強健性質,以及克服真實世界物理系統的時間延遲現象。模糊邏輯控制可以有效因應外擾或雜訊所導致系統參數變化的影響,受控系統可針對所遭遇的狀況來選擇最適合的設定排程,以達到最終的目的,因此特別適用於動態特性隨操作狀況改變的受控系統。
在第二部分介紹了T-S模糊系統應用在動態輸出回饋控制器上,藉由模糊集合的觀念,將非線性系統線性化之後,利用了李亞普諾夫函數,使系統達到穩定化的狀態和H∞的性能指標,克服系統外的雜訊干擾,並且搭配了線性矩陣不等式的數學工具,如此不僅可以有效率的求得最佳解之外還可以使系統達到我們要求的時間響應。
在第三部份裡則透過了電腦實驗模擬,包括了線性和非線性時延系統的響應控制和倒單擺的平衡控制來驗證所設計出的控制器是否符合當初所要求的目標響應。
摘要(英) In this thesis, mainly divide into three major parts and discuss, the first part is introduced Mamdani fuzzy system to be applied to fuzzy PI, PD, PI+PD controller. One that is by expert’’s knowledge base obtains and application, using the on-line self parameter adjusted make system not only stability but also achieve we request the transient response. The system has certain robustly, and overcome true world physics system’s time-delay. Fuzzy logic control can overcome noise effectively and the systematic parameter changes, especially suitable for the controlled system that the state changes.
In the second part is introduced T-S fuzzy system to apply to the dynamic output feedback controller. We proposes a systematic design methodology for T-S model based fuzzy control systems with guaranteed H∞ performance and additional constraints on the closed-loop pole locations. These objectives are formulated in terms of a convex optimization problem involving linear matrix inequality. To demonstrate its usefulness, the proposed design methodology is applied to the problem of robust regulation of a inverted pendulum.
Experiment and simulation results show that the proposed fuzzy controller yields the optimal disturbance rejection performance and the desired transient response characteristics.
關鍵字(中) ★ Takagi-Sugeno
★ 線性矩陣不等式
★ H∞控制
關鍵字(英) ★ H∞ control
★ T-S fuzzy model
★ Mamdani fuzzy model
★ LMI
論文目次 摘要 i
第一章 緒論 1
1.1 歷史回顧 2
1.2 研究動機 2
1.3 論文架構 3
1.4 符號標記 3
1.5 預備定理 4
第二章 系統架構及Mamdani模糊系統 5
2.1 系統架構 5
2.2 參數自我調整模糊控制 8
2.3 歸屬函數 9
2.4 比例因子 11
2.5 模糊規則庫 11
2.6 參數自我調整機制 14
第三章 電腦實驗模擬 17
3.1 模擬系統描述 17
3.2 二階非線性時延系統 18
3.3 二階線性時延系統 25
第四章 總結與未來研究方向 32
第五章 系統架構及T-S模糊系統 33
5.1 T-S模糊理論 33
5.2 動態輸出回饋控制器 34
5.3 H 控制 36
5.4 T-S模糊系統 36
5.5 PDC控制器 38
第六章 電腦實驗模擬 51
6.1 倒單擺系統描述 51
6.2 模擬結果 52
第七章 總結與未來研究方向 53
參考文獻 54
參考文獻 [1] Xin-jiang Wei ,Chang-hui Deng and Yuan-wei Jing,
“Fuzzy Tracking Control for Nonlinear Time-delay
Systems”, Proceedings of the 5Ih World Congress on
Intelligent Control and Automation, June 15-19,
Hangzhou, P.R. China.2004.
[2] Sung Kyung Hong ,Yoonsu Nam,“Stable fuzzy
control system design with pole-placement constraint: an
LMI approach”, Computers in Industry Volume 51,
Issue 1, Pages 1-11, May 2003.
[3] K. Belarbia ,F. Titela ,W. Bourebiaa , K.Benmahammed,
“Design of Mamdani fuzzy logic controllers with rule
base minimisation using genetic algorithm”, Engineering
Applications of Artificial Intelligence Volume 18, Issue 7,
Pages 875-880, October 2005.
[4] Pete Seiler and Raja Sengupta,” A Bounded Real Lemma
for Jump Systems”, Submited for publication to:IEEE
Trans. ON AUTOMATIC CONTROL,20021,November
27,2002.
[5] Sanqing Hu and Jun Wang,” Multilayer recurrent neural
networks for online robust pole assignment”,IEEE Trans.
Circuts and systems. ,Volume 50, Issue 11, Page(s):1488 -
1494 ,Nov. 2003
[6] Sung Kyung Hong ,Yoonsu Nam,“An LMI-based H∞
fuzzy control system design with TS framework”
Information Sciences, Volume 123, Issues 3-4, Pages
163-179 ,April 2000.
[7] Sing Kiong Nguang and Wudhichai Assawinchaichote,
“H Filtering for Fuzzy Dynamical Systems With
Stability Constraints” ,IEEE Trans. Circuts and
systems. ,vol. 50, no. 11, November 2003.
[8] F. LEIBFRITZ,” AN LMI-BASED ALGORITHM FOR
DESIGNING SUBOPTIMAL STATIC H2/H∞OUTPUT
FEEDBACK CONTROLLERS”, SIAM J. CONTROL
OPTIM. Vol. 39,No. 6,pp. 1711–1735, Society for
Industrial and Applied Mathematics,2001.
[9] Shinq-JenWu,Hsin-Han Chiang,Han-Tsung Lin and
Tsu-Tian Lee ,”Neural-network-based optimal fuzzy
controller design for nonlinear systems”, Fuzzy Sets and
Systems 154, pp. 182–207,2005.
[10] Carsten Scherer and Siep Weiland,” Lecture Notes
DISC Course on Linear Matrix Inequalities in Control”
Version 2.0: April, 1999.
[11] Kazuo Tanaka and Manabu Sano,” A Robust
Stabilization Problem of Fuzzy Control Systems and Its
Application to Backing up Control of a Truck-Trailer”
IEEE TRANSAmONS ON FUZZY SYSTEMS, VOL. 2,
NO. 2, MAY 1994.
[12] Mahmoud Chilali and Pascal Gahinet,”H design
with pole placement constraints:An LMI Approach”
,IEEE Trans. Contr., vol. 41, no. 3, pp.358-367, 1996.
[13] Gang Feng and Jian Ma,”Quadratic stabilization of
uncertain discrete-time fuzzy dynamic systems” ,IEEE
Trans. Circuts and systems. ,vol. 48, no. 11,pp.1337-1344,
2001.
[14] Kazuo Tanaka and Shigeki Hori and Kazuo Tanaka,”
Multiobjective control of a vehicle with triple trailers”
,IEEE Trans. Mechatronics, vol. 7, no. 3, pp.357-368,
2002.
[15] Hua O. Wang and Kazuo Tanaka,”An approach to fuzzy
control of nonlinear systems:stability and design issues”
,IEEE Trans. Fuzzy Systems., vol. 4, no. 1, pp.14-23,
1996.
[16] Zhi-Wei Woo,Hung-Yuan Chung and Jin-Jye Lin,”A PID
type fuzzy controller with self-tuning scaling factors”
,Fuzzy Sets and Systems 115,pp.321-326,2000.
[17] K.S.Tang,Kim Fung Man,Guanrong Chen and Sam
Kwong,“An Optimal Fuzzy PID Controller” ,IEEE Trans.
, vol. 48, no. 4, pp.757-765, August 2001.
[18] Jingwei Xu and Xin Feng,”Design of Adaptive Fuzzy
PID Tuner Using Optimization Method”, Proceedings of
the 5Ih World Congress on Intelligent Control and
Automation, June 15-19, Hangzhou, P.R. China.2004.
[19] Huapeng Wu and Heikki Handroots,”Hybrid Fuzzy
Self-tuning PID Controller For A Parallel Manipulator”
, 5Ih World Congress on Intelligent Control and
Automation, June 15-19, Hangzhou, P.R. China.2004.
[20] Hung-Yuan Chung,Bor-Chin Chen and Jin-Jye Lin,
“A PD type fuzzy controller with self-tuning scaling
factors”, ,Fuzzy Sets and Systems 93,pp.23-28,1998.
[21] Chung-Shi Tseng,, Bor-Sen Chen and Huey-Jian Uang,
“Fuzzy Tracking Control Design for Nonlinear Dynamic
Systems via T–S Fuzzy Model”,IEEE Trans.,2001.
[22] Mahmoud Chilali ,Pascal Gahinet and Pierre Apkarian,
“Robust Pole Placement in LMI Regions”,IEEE Trans.
Contr., vol. 44, no. 12, pp.2257-2270 ,December 1996.
指導教授 張江南(nono) 審核日期 2006-9-29
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