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研究生： 陳士元
Shi-Yuan Chen
論文名稱： 模糊滑動模態控制器之設計及應用於非線性系統
Design of Fuzzy Sliding Mode Controller with Applications to Nonlinear Systems
指導教授： 鍾鴻源
Hung-yuan Chung
口試委員:
學位類別： 碩士
Master
系所名稱： 資訊電機學院 - 電機工程學系
Department of Electrical Engineering
畢業學年度： 88
語文別： 中文
論文頁數： 52
中文關鍵詞： 滑動模態控制 、模糊控制 、模糊滑動模態控制
外文關鍵詞： Sliding Mode Control, Fuzzy Control, Fuzzy Sliding Mode Control
相關次數： 點閱：12  下載：0 
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    • 本論文將探討對非線性系統的模糊滑動模態控制器之設計。我們使用滑動模態控制原則對系統的穩定性來提供引導設計一個模糊控制器。然而、在建立模糊控制規則中可能因為控制規則過多而難以建立。因此、我們提出一個新的方法稱為單輸入類似模糊滑動模態控制方法來簡化模糊控制規則。如此、在產生及調適控制規則上將會更容易。最後、我們使用分解方法去結合所提出的單輸入類似模糊滑動模態控制。藉由一些舉例的模擬結果，我們可以發現所提出的方法會使非線性系統的性能響應能滿足我們的控制目的。

    In this thesis, we will discuss the design of fuzzy sliding mode controller for nonlinear systems. We use the sliding mode control (SMC) principle to provide the guidance to design a fuzzy controller for system stability. However, establishing the fuzzy control rules may be too large to implement. Hence, we will propose a new method called single-input quasi fuzzy sliding mode control (SQ-FSMC) to reduce the fuzzy control rules. So, generations and tuning of control rules will be easier. Finally, we will use the decouple method to combine the SQ-FSMC. From the simulation results, it is found that the proposed method makes the performance response of nonlinear systems satisfy our control purpose.

    Abstract Ⅰ Table of Content Ⅱ List of Figures Ⅳ List of Tables Ⅵ Chapter Page Chapter 1 Introduction 1 1.1 Background 1 1.2 Motivation 2 1.3 Organization 3 Chapter 2 Fuzzy-Sliding Mode Controller Design for Uncertain Time-Delayed Systems with Nonlinear Input 4 2.1 Introduction 4 2.2 System Statement 5 2.3 Variable Structure Control Design 8 2.4 Fuzzy Sliding Mode Control 11 2.5 Simulations 15 2.6 Conclusions 18 Chapter 3 A New Stability Approach to A Single-Input Fuzzy Control Design for Nonlinear Systems 20 3.1 Introduction 20 3.2 System Description and Fuzzy Sliding Mode Control 21 3.2.1 System Statement 21 3.2.2 Fuzzy Sliding Mode Control 22 3.3 Design of Single-Input Quasi-FSMC 25 3.4 Numerical Simulations28 3.5 Conclusions 33 Chapter 4 Decoupled Fuzzy Controller Design with Single-Input Fuzzy Logic Standpoint 35 4.1 Introduction 35 4.2 System Description 36 4.3 Sign Distance Fuzzy Logic Control 37 4.4 Design of Decoupled Fuzzy Logic Controller 40 4.5 Computer Simulations 42 4.6 Conclusions 48 Chapter 5 Conclusions and Recommendations 49 List of Figures Page Fig. 2.1 Series nonlinearity in a single input case 7 Fig. 2.2 The block diagram of the FCMC 12 Fig. 2.3 Fuzzy variable of triangular type 12 Fig. 2.4 State variable dynamics for the system under VSC: and 16 Fig. 2.5 The phase plane between and : ( ) under the VSC 16 Fig. 2.6 State variable dynamics for the system under FSMC: and 17 Fig. 2.7 The phase plane between and : ( ) under the FSMC 18 Fig. 3.1 The block diagram of the FSMC 23 Fig. 3.2 Fuzzy variable of triangular type 23 Fig. 3.3 Derivation of a signed distance 25 Fig. 3.4 The block diagram of the SQ-FSMC 27 Fig. 3.5 Diagram of an inverted pendulum 29 Fig. 3.6(a) Time response of of FSMC 30 Fig. 3.6(b) Time response of of SQ-FSMC 31 Fig. 3.7(a) Time response of with disturbance of FSMC 31 Fig. 3.7(b) Time response of with disturbance of SQ-FSMC 32 Fig. 3.8(a) State trajectory of FSMC 32 Fig. 3.8(b) State trajectory of SQ-FSMC 33 Fig. 4.1 Derivation of a signed distance 37 Fig. 4.2 Fuzzy variable of triangular type 39 Fig. 4.3 The block diagram of the SDFLC 39 Fig. 4.4 The block of the decoupled SDFLC 40 Fig. 4.5 Structure of an inverted pendulum system 42 Fig. 4.6 Angle evolution of the pole 44 Fig. 4.7 Position evolution of the cart 44 Fig. 4.8 Control output of Example 1 45 Fig. 4.9 Structure of a ball-beam system 45 Fig. 4.10 Angle evolution of the beam 47 Fig. 4.11 Position evolution of the ball 47 Fig. 4.12 Control output of Example 2 48 List of Tables Page Table 2.1 Rule table of FSMC 13 Table 2.2 Look-up table of FSMC 14 Table 3.1 Rule table of FSMC 24 Table 3.2. Rule table for SQ-FSMC 28 Table 4.1. Rule table for sign distance fuzzy logic control 39

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