Robust Tracking Design Based on Adaptive Fuzzy Control of Fully-Actuated and Under-Actuated MIMO Nonlinear Systems with Time Delayed Uncertainty

• Main Authors: Chien-Ting Chen, 陳建廷
• Other Authors: Ming-Guo Her
• Format: Others
• Language: en_US
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/62360793999119927839

碩士 === 大同大學 === 機械工程學系(所) === 101 === It is proposed here a robust tracking design based on adaptive fuzzy control technique to control for a class of fully-acutuated and under-actuated multi-input multi-output (MIMO) nonlinear systems with time delayed uncertainty in which each uncertainty is assumed to be bounded by an unknown gain. This technique will overcome modeling inaccuracies, such as drag and friction losses, effect of time delayed uncertainty, as well as parameter uncertainties. The proposed control law is based on indirect adaptive fuzzy control. A fuzzy model is used to approximate the dynamics of the nonlinear MIMO system; then, two on-line estimation schemes are developed to overcome the nonlinearities and identify the gains of the delayed state uncertainties, simultaneously. The advantage of employing an adaptive fuzzy system is the use of linear analytical results instead of estimating nonlinear system functions with an online update law. The adaptive fuzzy scheme uses a Variable Structure (VS) scheme to resolve the system uncertainties, time delayed uncertainty and the external disturbances such that H∞ tracking performance is achieved. The control laws are derived based on a Lyapunov criterion and the Riccati-inequality such that all states of the system are uniformly ultimately bounded (UUB). Therefore, the effect can be reduced to any prescribed level to achieve H∞ tracking performance. Finally the fully-actuated system as a two-connected inverted pendulums system on carts and a two-damper-of-freedom system, and the under-actuated system as a tower crane system are used to validate the performance of the proposed fuzzy scheme.