倒单摆系统之强健模糊输出滑动模式控制器的研制-eTop-工程科技.PDF

中文摘要 本計畫的目的是設計一個強健且智慧型的模糊輸出滑動模式控制器，使得倒單擺可以倒 立及定位控制。利用滑動模式控制對系統參數擾動及雜訊干擾具有強健性的優點，及模糊 邏輯具有語意特質和線上調整參數的能力，發展出具有強健性且智慧型的控制器來控制倒 單擺系統。強健智慧型模糊輸出滑動模式控制器在設計過程可以不需要受控系統之正確數 學模式，而依然可以確保系統穩定性。除了理論推導外，將進行倒單擺硬體實現，把本計 畫所得到的控制器實際應用到倒單擺的角度控制，驗證控制器的可行性及實際的性能響應。 關鍵字：倒單擺 ，滑動模式控制，模糊邏輯，智慧型控制，強健性，穩定性。 英文摘要 The fuzzy output sliding mode control method is proposed to deal with parameter variations and external disturbances of inverted pendulum control problem. The advantage of the sliding mode control is insensitive to system variations and external disturbances. The disadvantage of the sliding mode control is the need of exact plant dynamics. This project proposes a fuzzy output sliding mode control law for the control of inverted pendulum systems. Combining the fuzzy control and sliding mode control, the advantage of fuzzy sliding mode control is that the robustness is maintained, the linguistic sentence and expert experience can be incorporated into the fuzzy rules. Thus, the control input gain can be on-line tuned. The stability and the convergence of the overall system will be proved. Finally, the computer simulation and the hardware implementation proved the strength of the proposed method for the inverted pendulum problem. Keywords: inver