Please use this identifier to cite or link to this item:
標題: 具摩擦及干擾補償之線性馬達穩定適應模糊控制
Stable Adaptive Fuzzy Control for Linear Drive Systems with Friction and Disturbance Compensation
作者: 賴如昌
Lai, Ju Chang
關鍵字: stable adaptive controller;穩定適應控制;local linear friction models;switching control;fuzzy model;real-time estimation;linear parameterization;adaptive fuzzy control;局部線性摩擦模式;切換控制;模糊模型;即時辨認方法;線性參數化;適應模糊控制
出版社: 機械工程學系
摘 要

This thesis considers the control of a linear drive system with friction and disturbance compensation. A stable adaptive controller integrated with fuzzy model-based friction estimation and switching control-based disturbance compensation is proposed via Lyapunov stability theory. A TSK fuzzy model with local linear friction models is suggested for real-time estimation of its consequent local parameters. The parameters update law is derived based on linear parameterization. In order to compensate for the effects resulting from estimation error and disturbance, a robust switching law is incorporated in the overall stable adaptive control system. Extensive computer simulation results show that the proposed stable adaptive fuzzy control system has very good performances, and is potential for precision positioning and trajectory tracking control of linear drive systems.
Appears in Collections:機械工程學系所

Show full item record

Google ScholarTM


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.