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題 名 | Model Reference Output Feedback Guaranteed Cost Fuzzy Tracking Control Design for Nonlinear Systems=非線性系統模型參考暨輸出回授之保證性能模糊追踪控制設計 |
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作 者 | 劉建宏; | 書刊名 | 中華科技大學學報 |
卷 期 | 55 2013.04[民102.04] |
頁 次 | 頁133-151 |
分類號 | 448.942 |
關鍵詞 | 保證性能模糊追踪控制; 模型參考暨輸出回授控制設計; 線性矩陣不等式; T-S模糊模型; 車上倒單擺系統; Guaranteed cost fuzzy tracking control; Model reference output feedback control design; Linear matrix inequalities; Takagi-sugeno fuzzy model; Inverted pendulum on a cart; |
語 文 | 英文(English) |
中文摘要 | 本論文對於非線性系統,提出一個模型參考暨輸出回授之保證性能模糊追踪控制設計。首先以T-S模糊模型來描述具有外部干擾及量測誤差之非線性系統。接著基於模型參考追踪控制技術,發展出一個以觀測器為基礎具有保證性能特性之保證性能模糊控制器。對於此存在的保證性能控制器,推導出可確保閉回路增廣系統為漸近穩定及系統的保證性能函數必小於某一上界,並以線性矩陣不等式(LMIs)表示之充分條件。另外也介紹可將保證性能函數之上界減到儘可能小的演算法。最後利用一個車上倒單擺系統之電腦模擬作示範以驗證所提出之保證性能模糊控制器的追踪性能。 |
英文摘要 | This paper concerns the problem of the model reference output feedback guaranteed cost fuzzy tracking control design for nonlinear systems. First, the Takagi-Sugeno (T-S) fuzzy model is adopted for fuzzy modeling of nonlinear systems subject to external disturbance and measurement noise. Next, based on the model reference tracking control scheme, an observer-based guaranteed cost fuzzy controller with guaranteed cost performance is developed. Sufficient conditions for the existence of guaranteed cost tracking controller which ensures that the closed-loop augmented system is asymptotically stable and the system's guaranteed cost function is less than an upper bound are given in terms of linear matrix inequalities (LMIs). Furthermore, an algorithm for minimizing the upper bound of the guaranteed cost function is also introduced. Simulations on an inverted pendulum on a cart are finally presented to demonstrate the tracking performance of the proposed guaranteed cost fuzzy controllers. |
本系統中英文摘要資訊取自各篇刊載內容。