ROBUST ADAPTIVE FUZZY CONTROLLER FOR NONLINEAR SYSTEMS WITH HIGHER-ORDER AND UNMATCHED UNCERTAINTIES

• Main Authors: Wen-Hao Wang, 王文豪
• Other Authors: Prof. Chiang-Cheng Chiang
• Format: Others
• Language: en_US
• Published: 2000
• Online Access: http://ndltd.ncl.edu.tw/handle/77869028430388344917

碩士 === 大同大學 === 電機工程研究所 === 88 === In this thesis, two robust adaptive fuzzy controllers for multi-input multi-output (MIMO) nonlinear systems and large-scale nonlinear systems with higher-order and unmatched uncertainties are developed. The design is based on the principle of robust control, input-output (I/O) linearizing controller, and the approximation capability of adaptive fuzzy systems. The adaptive fuzzy system incorporates human expert knowledge in the form of fuzzy rule ‘intelligence’ with conventional I/O linearizing controllers. Finally, the proposed controller is applied to practical systems. Computer simulation results confirm that the effect of both the fuzzy approximation error and unmatched uncertainties on the tracking error can be attenuated efficiently by the proposed method.