标题: | 利用并联控制器架构稳定非线性非最小相位系统 Stabilization of the Nonlinear Nonminimum Phase System Using A Parallel Control Architecture |
作者: | 黄静慧 Huang, Ching-Hui 邓清政 Ching-Cheng Teng 电控工程研究所 |
关键字: | 并联控制器;非最小相位;模糊类神经网路;parallel controller;nonminimum phase;fuzzy neural network |
公开日期: | 1996 |
摘要: | 在本论文中,我们提出一个并联的控制器架构,以稳定非线性单一输入 单一输出非最小相位系统.这个架构由一个传统的控制器和一个模糊类神 经网路控制器组合而成.传统控制器是用来稳定系统的主要部份.它的推导 方式是先对系统做部份回授线性化,使系统转换成为简单的串接形式.然 后,我们再以 Lyapunov 的观念为基础,利用串接控制设计技巧去分析这个 系统的控制法则.至于模糊类神经网路控制器的作用则是适应性地补偿传 统控制器的不足.它可以说是一个微调器.藉由模糊类神经网路控制器的帮 助,这个并联的控制器可以改善系统的响应性能,并且对当有外力干扰或有 较大初始值时,有好的容忍性.最后,对例子做电脑模拟的结果,显示了这个 并联控制器有好的成效和实用性. A parallel control approach is presented in this thesis to stabilize nonlinear single-input-single-output systems which are of nonminimum phase.The architecture consists of a conventional controller and a fuzzy neuralnetwork controller. The conventional controller is the main part for stabilization. It is derived first using partial feedback linearizationwhich transforms the system into the simplified cascade connection form.Then we apply the cascade control design technique based on the notion ofLyapunov to analyze control laws for the system. The fuzzy neural networkcontroller adaptively compensates for the conventional controller. It actsas a fine tuner. With the aid of the fuzzy neural network controller, theparallel controller can improve the performance of the system, has abilityof disturbance rejection and can enlarge the domain of attraction forlarger initial conditions. Furthermore, computer simulations of examples are presented to show the performance and applicability of this proposedcontroller. |
URI: | http://140.113.39.130/cdrfb3/record/nctu/#NT850327009 http://hdl.handle.net/11536/61661 |
显示于类别: | Thesis |