查詢結果分析
來源資料
相關文獻
- Integral Fuzzy Regulation Control for a Micro Unmanned Helicopter
- Pole Clustering Inside a Disk for Generalized State-Space Systems-An LMI Approach
- Structurally Constrained H∞ Suboptimal Control Problems: Low-order Controller Design
- Robust Stabilization of Parameter Perturbed Systems with Delayed States and Control Delay
- Mixed H[feaf]/H垒 Cruise Control of High Speed Train via Linear Matrix Inequalities
- Fuzzy Control Design Based on Fuzzy Modeling
- Coordinated Power System Stabilizer Design Using Linear Matrix Inequalities for Gain-Scheduled Scaled-H壵 Control
- 飛彈縱向動態之狀態回授H垒/極點配置增益排程控制
- Robust Control of Planar V/STOL Aircraft with Actuator Constraints
- Delay-Dependent Exponential Stabilization of Uncertain Systems with Time-Varying Delays in Both State and Control
頁籤選單縮合
題 名 | Integral Fuzzy Regulation Control for a Micro Unmanned Helicopter=微型無人操作直昇機之積分模糊調節控制 |
---|---|
作 者 | 劉建宏; | 書刊名 | 中華科技大學學報 |
卷 期 | 49 2011.10[民100.10] |
頁 次 | 頁127-143 |
分類號 | 447.738、447.738 |
關鍵詞 | 微型無人操作直升機; 高木與菅野模糊模型; 輸出調節; 線性矩陣不等式; 積分式模糊控制器; Micro unmanned helicopter; Takagi-Sugeno fuzzy model; Output regulation; Linear matrix inequalities; Integral fuzzy controller; |
語 文 | 英文(English) |
中文摘要 | 本文提出一個積分式模糊控制策略以解決微型無人操作直升機之輸出調節問題。為了消除系統的偏差且保證零-偏移量之輸出調節性能,首先將系統座標轉換到平衡點並且引入一個外加的輸出調節誤差之積分狀態,然後將此結果之增廣系統描述成一個高木與菅野(T-S)之模糊模型。其次利用平行分佈補償(PDC)技術和直接式李亞普諾夫(Lyapunov)法,透過解一組線性矩陣不等式(LMIs)來建立一個具輸出調節性能之積分式狀態回饋控制律。另外所提出的控制器設計有下列之優點:i)能處理非線性仿射(affine)系統;ii)在系統模型不確定的情況下具有指數穩定;iii)擁有分段式常數輸出之調節性能。最後以微型無人操作直升機之動態模型來示範所提之積分式模糊控制器的有效性。 |
英文摘要 | This paper proposes an integral fuzzy control strategy to solve output regulation problem for the micro unmanned helicopter. In order to eliminate the system's bias and guarantee the zero-offset output regulation performance, we firstly take coordinate translation at equilibrium point and introduce an added integral state of output regulation error, and then the resulting augmented system is represented into a Takagi-Sugeno fuzzy model. Next, utilizing parallel distributed compensation (PDC) technique and direct Lyapunov method, an integral state feedback control law for output regulation is established by solving a set of linear matrix inequalities (LMIs). Moreover, the proposed controller design has following merits: i) capability to dealing with nonlinear affine system; ii) giving the exponential stability in the presence of model uncertainty; iii) possessing a piecewise constant output regulation performance. Finally, a micro unmanned helicopter dynamic model is presented to demonstrate the validity of the proposed integral fuzzy controller. |
本系統中英文摘要資訊取自各篇刊載內容。