模糊可變結構控制器設計與擊中時間之分析

Abstract

在本論文中,我們提出一種結合可變結構控制與模糊推論來控制多輸 入的線性或非線性系統之法則。由於引進此推論而產生了兩個優點:第一 是消除了顫震的現象;第二是模糊推論隨著系統的有無干擾或雜訊自動調 節輸出量,因而改善了高增益問題,同時也提高了整個系統的強韌性。除此 之外,我們還提出了一個如何藉由適當選取控制律,就可以控制系統達到順 滑模式的時間之方法。我們還將其應用到機器人軌跡控制問題上,並且告 知如何來選取控制量。由模擬結果可看出此控制方法之可行性與效率。 A strategy of variable structure control incorporating the fuzzy inference for the multi-input linear or nonlinear system is presented. One advantage of our proposed approach is that the system has no chattering phenomenon, the other is the fuzzy inference approach improves the high gain problem and enhances the robustness against the parameter variations and external disturbances. Furthermore, a new method determining the hitting time of variable structure control is proposed. It is shown that one can control the hitting time by suitably selecting the control law. Our proposed strategy can also be applied to the trajectory control of robot manipulators. Simulation results are given to illustrate the effectiveness of the proposed strategy.