標題: 利用並聯控制器架構穩定非線性非最小相位系統
Stabilization of the Nonlinear Nonminimum Phase System Using A Parallel Control Architecture
作者: 黃靜慧
Huang, Ching-Hui
鄧清政
Ching-Cheng Teng
電控工程研究所
關鍵字: 並聯控制器;非最小相位;模糊類神經網路;parallel controller;nonminimum phase;fuzzy neural network
公開日期: 1996
摘要: 在本論文中,我們提出一個並聯的控制器架構,以穩定非線性單一輸入
單一輸出非最小相位系統.這個架構由一個傳統的控制器和一個模糊類神
經網路控制器組合而成.傳統控制器是用來穩定系統的主要部份.它的推導
方式是先對系統做部份迴授線性化,使系統轉換成為簡單的串接形式.然
後,我們再以 Lyapunov 的觀念為基礎,利用串接控制設計技巧去分析這個
系統的控制法則.至於模糊類神經網路控制器的作用則是適應性地補償傳
統控制器的不足.它可以說是一個微調器.藉由模糊類神經網路控制器的幫
助,這個並聯的控制器可以改善系統的響應性能,並且對當有外力干擾或有
較大初始值時,有好的容忍性.最後,對例子做電腦模擬的結果,顯示了這個
並聯控制器有好的成效和實用性.
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
顯示於類別:畢業論文