結合T-S模糊模型與積分型順滑模控制技術之可靠度控制研究

Abstract

本論文探討結合T-S模糊模型(T-S fuzzy model)與積分型順滑模控制(integral type sliding mode)技術於主動式可靠度控制上的應用。由於使用T-S模糊模型來近似原始的非線性系統，此結合技術不但可以減輕即時計算(online computation)的運算負擔，同時可使得閉迴路系統能夠擁有積分型順滑模控制所擁有之優點，包含無迫近階段(reaching phase)以及其強健性。此結合技術允許工程師可根據對於無干擾系統(nominal system)的性能要求，事先地設計受干擾系統(uncertain system)之性能。在此設計下，即使某些促動器發生故障的情形，控制任務仍然可被成功地完成且不需要即時的外在支援。所提出之控制技術也被應用到衛星姿態控制上，最後，模擬結果說明了結合技術之有效性。

This paper studies the robust active reliable control issues via the combination of T-S fuzzy modeling and integral type sliding mode control (ISMC) techniques. The presented scheme retains the benefits of both the T-S fuzzy model and ISMC approaches. It not only alleviates the online computational burden, since it uses the T-S fuzzy model to approximate the original nonlinear system and most of the system parameters of the T-S fuzzy model can be offline computed, but also preserves the advantages of the ISMC schemes, including there is no reaching phase and robustness. One of those advantages is that the combined scheme is allowed to address the system performance in advance for uncertain system according to the engineer’s requirements for nominal system. Under the design, the control mission can be achieved successfully without prompt external support, even when some of the actuators fail to operate. The presented scheme is also applied to the attitude control of a spacecraft. Simulation results demonstrate the effectiveness of the proposed scheme.