| Summary: | 碩士 === 大同大學 === 電機工程學系(所) === 93 === In this thesis, we consider the stability robustness for fuzzy systems with multiple
delayed state perturbations, time-varying uncertain parameters, and disturbances.
These delayed state perturbations, uncertainties, and external disturbances in the
fuzzy systems are assumed to be any uncertain bounded but unknown continuous
functions. An improved adaptation law with σ-modification is proposed to
estimate such unknown bounds, and on the basis of the updated values of these
unknown bounds, a continuous memoryless state feedback controller is constructed
for achieving robust stability of the closed-loop system. Based on Lyapunov stability
theorem, the proposed adaptive robust controller can guarantee that the state
converges asymptotically to zero in the presence of multiple delayed state perturbations,
time-varying uncertain parameters, and disturbance. In addition, it is also
shown that this improved adaptation law with σ-modification can be applied to
the general adaptive control problems to obtain some more exact control results.
Finally, an inverted pendulum system is given to demonstrate the validity of the
proposed design method.
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