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研究生： 曾錦豐
Jin-Feng Zeng
論文名稱： 模糊滑動模式控制及其在倒三角體系統之應用
Fuzzy Sliding Mode Controllers with Applications to Seesaw 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： 90
語文別： 英文
論文頁數： 47
中文關鍵詞： 模糊 、滑動 、倒三角體
外文關鍵詞： Seesaw, Sliding, fuzzy
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    • 模糊控制理論在許多實際的應用上，展現其優於傳統控制技術的能力，在許多複雜或定義不甚明確的控制系統中。
    通常在設計模糊控制器的過程中，包含資料的獲得、定義控制結構、定義規則庫及其他的控制參數時，都是相當費時的。由於傳統的模糊控制器設計缺乏有系統的通則，而且所有模糊規則的建立需要經驗取向與嘗試錯誤，在設計上較無效率。因此，本文將提供一個簡單且有系統的方法設計模糊控制器，並且減低系統受外部的干擾及系統的不確定性所影響。因此具有強建性的特質，並可藉自調參數來改善傳統滑動模態控制的抖動現象。此外，大量減少相關模糊規則之數目，以符合簡化設計的需求。

    This paper deals with the design of fuzzy control systems by using the approach of sliding mode control. The key idea is to apply the fuzzy sliding mode control in the system to guarantee that the state can reach the user-defined surface in finite time and then it slides into the origin along the surface. The parameters of the membership function of the fuzzy rule base are self-tuning. They will change according to some tuning scheme. The initial fuzzy membership function can be given by human experts, and it is tuned automatically by the tuning scheme so as to eliminate the chattering effect of the system. Next, we will apply the fuzzy sliding mode controller to a nonlinear unstable seesaw (inverted wedge) system. At last, experimental results show the feasibility of the method, and the attenuated chattering is achieved.

    Abstract ……………………………………….……….………………Ⅰ Table of Content ……..…..………….………………………………. Ⅱ List of Figures ………...…..………………………………………… IV List of Tables ……………..…………….…….………………..….…. Ⅶ Chapter 1: Introduction …………….………………………..……... 1 1-1 Background ………………………………………………………... 1 1-2 Motivation …………………………………………………………. 1 1-3 Organization ……………………………………………………….. 2 Chapter 2: Fuzzy Control and Sliding Mode Control Theory……….3 2-1 Brief Description of Fuzzy Control ………………………………3 2-2 The Basic Structure of the Fuzzy Controller …………………… 4 2-3 Procedures of Designing the Fuzzy Controller……..........................6 2-4 Brief Description of Sliding Mode Control….…………………...… 7 2-5 Design of Sliding Mode Controller...…………………...…………....8 Chapter 3: Problem Description and Proposed Method………...... 13 3-1 Problem Description………………………………………….……. 13 3-2 Fuzzy Sliding Mode Controller..……...….....…….…………..…….13 3-3 The Neural-Network-Based Fuzzy Logic Controller ……………. .14 3-4 The Tuning Algorithm ………………………………...…………. 17 3-5 The Structure of self-tuning Fuzzy-Sliding Mode Controller……19 Chapter 4: Experimental Results and Discussions ……………….....21 4.1 Description of System……………….………………….…………. 21 4.2 The Application Algorithm……………………………….……...…23 4.3 The Result of the Computer Simulation…………………..…..…… 24 4.4 The Description of the Software……….…………………………... 28 4.5 The Practical Seesaw Mechanism………………………………………. 30 4.6 Results and Discussions...………………………….………...…….34 Chapter 5: Conclusions and Recommendations ……….……………45 References …………………………………….………………………. 46

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    [9] S.Y. Chen, “Design of Fuzzy Sliding Mode Controller with Applications to Nonlinear Systems”, M.S thesis, Department of Electrical Engineering, National Central University, 2000.
    [10] C.H. Tsai, “Neuro-Sliding Mode Control with Its Applications to Seesaw Systems”, M.S thesis, Department of Electrical Engineering, National Central University, 2001.
    [11] Erbatur, K.,Kaynak, O.”Use of adaptive fuzzy systems in parameter tuning of sliding-mode controllers” Mechatronics, IEEE/ASME Transactions on , Volume: 6 Issue: 4 , Dec. 2001 pp., 474 -482

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