標題: Improved fuzzy feedback linearization and Sinswat-transformation control of inverted pendulum
作者: Chien, T. L.
Chen, C. C.
Chen, Y. C.
Wu, S. L.
材料科學與工程學系
Department of Materials Science and Engineering
關鍵字: fuzzy logic control;almost disturbance decoupling;feedback linearization approach;composite Lyapunov approach;inverted pendulum control system
公開日期: 2010
摘要: This paper studies the output tracking and almost disturbance decoupling problem of nonlinear control systems with uncertainties via fuzzy logic control and feedback linearization approach. The main contribution of this study is to construct a controller, under appropriate conditions, such that the resulting closed-loop system enjoys for any initial condition and bounded tracking signal the following characteristics: input-to-state stability with respect to disturbance inputs and almost disturbance decoupling, i.e., the influence of disturbances on the L(2) norm of the output tracking error can be arbitrarily attenuated by increasing some adjustable parameters. The underlying theoretical approaches are the differential geometry approach and the composite Lyapunov approach. One example, which cannot be solved by the approach from the first paper (Marino et al., 1989) on the almost disturbance decoupling problem, is proposed in this paper to exploit the fact that the almost disturbance decoupling and the convergence rate performances are easily achieved by virtue of our approach. In order to demonstrate the practical applicability, the paper takes up the study of an inverted pendulum control system.
URI: http://hdl.handle.net/11536/6095
ISSN: 0324-8569
期刊: CONTROL AND CYBERNETICS
Volume: 39
Issue: 4
起始頁: 1069
結束頁: 1093
顯示於類別:期刊論文