H∞模糊控制—離散系統 線性分式轉換法

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張景雲(Jin-Yun Chang) 查詢紙本館藏

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機械工程學系

論文名稱

H∞模糊控制—離散系統線性分式轉換法

相關論文

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★ 廣義模糊控制-離散系統線性分式轉換法	★ H∞模糊控制－連續系統線性分式轉換法
★ 強健模糊動態輸出回饋控制-Circle 與 Popov 定理	★ 強健模糊觀測狀態回饋控制-Circle與Popov定理
★ H_infinity 取樣模糊系統的觀測型控制	★ H∞取樣模糊系統控制與觀測定理
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★ H∞模糊系統控制-寬鬆變數法	★ 時間延遲 T-S 模糊系統之強健 H2/H(Infinity) 控制與估測
★ 寬鬆耗散性模糊控制-波雅定理	★ 耗散性估測器-波雅定理

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摘要(中)

本篇論文以線性分式轉換法為主軸，分成三大部分來討論，第一部分是以數學模型來做推導，經由H∞性能條件和比例條件，推導出兩個矩陣不等式，第二部分為三次參數化和二次參數化，第三部分則是例子的電腦模擬，將依序來做介紹。
第一部分，會先介紹線性分式轉換系統的架構和特徵以及因為線性分式轉換法架構而產生的比例條件。針對H∞性能條件和比例條件經由一些推導可得到兩個矩陣不等式，我們利用這兩個式子求出滿足條件式的控制器增益和一些變數，且可得知系統達到穩定，並滿足H∞性能指標要求。
第二部分為三次參數化和二次參數化，兩者皆為將第一部分所推導出來的線性矩陣不等式，歸納成一個定理，不過其所用的寬鬆方法不同，也推導出不同架構的線性矩陣不等式，因而分別歸納成一個定理。
最後以一個倒車入庫的例子進行電腦模擬分析，我們先將其非線性系統推導成一個擁有線性分式轉換法架構的式子，再利用所得到的參數去求解，用圖來顯示模擬的結果，以對定理做個驗證。

關鍵字(中)

★ 線性分式轉換法
★ 模糊控制

關鍵字(英)

★ fuzzy control
★ LFT

論文目次

論文摘要Ⅰ
誌謝Ⅱ
圖目Ⅴ
第一章簡介 1
1.1 文獻回顧 1
1.2 研究動機 2
1.3 論文結構 3
1.4 符號標記 3
第二章數學模型與H∞性能條件 4
2.1 數學模型 4
2.2 H∞性能條件 7
第三章三次參數化之控制器設計 16
3.1 數學模型 16
3.2 H∞性能條件 18
3.3 寬鬆線性矩陣不等式 21
第四章二次參數化之控制器設計 24
4.1 數學模型 24
4.2 H∞性能條件 26
4.3 寬鬆線性矩陣不等式 29
第五章特例 31
5.1 數學模型 31
5.2 H∞性能條件 33
第六章倒車入庫例子 36
6.1 倒車入庫數學推導 36
6.2 倒車入庫控制架構 39
6.3 倒車入庫求解 44
第七章總結與未來研究方向 61
7.1 總結 61
7.2 未來研究方向 62
參考文獻 63
附錄A 矩陣介紹 69
附錄B 控制器增益值 72
B.1 三次參數化之控制器的增益值 72
B.2 三次參數化寬鬆方法之增益值 74
B.3 二次參數化之控制器的增益值 79
B.4 二次參數化寬鬆方法之增益值 80
B.5 狀態回饋控制器的增益值 83

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指導教授

羅吉昌(Ji-Chang Lo)

審核日期

2003-7-2

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