教師資料查詢 | 類別: 期刊論文 | 教師: 李祖添 TSU-TIAN LEE (瀏覽個人網頁)

標題:Hybrid Intelligent Output-Feedback Control for Trajectory Tracking of Uncertain Nonlinear Multivariable Dynamical Systems
學年100
學期2
出版(發表)日期2012/03/01
作品名稱Hybrid Intelligent Output-Feedback Control for Trajectory Tracking of Uncertain Nonlinear Multivariable Dynamical Systems
作品名稱(其他語言)
著者Chien, Yi-Hsing; Wang, Wei-Yen; Li, I-Hsum; Lian, Kuang-Yow; Lee, Tsu-Tian
單位淡江大學電機工程學系
出版者台北市中華民國模糊學會
著錄名稱、卷期、頁數International Journal of Fuzzy Systems=模糊系統期刊 14(1), pp.141-153
摘要Output-feedback control for trajectory tracking is an important research topic of various engineering systems. In this paper, a novel online hybrid direct/indirect adaptive Petri fuzzy neural network (PFNN) controller with stare observer for uncertain nonlinear multivariable dynamical systems using generalized projection-update laws is presented. This new approach consists of control objectives determination, approximator configuration design, system dynamics modeling, online control algorithm development, and system stability analysis. According to the importance and viability of plant knowledge and control knowledge, a weighting factor is utilized to sum together the direct and indirect adaptive PFNN controllers. Therefore, the controller design methodology is more flexible during the design process. Besides, an improved generalized projection-update law is utilized to tune the adjustable parameters to prevent parameter drift. To illustrate the effectiveness of the proposed online hybrid PFNN controller and observer-design methodology, numerical simulation results for inverted pendulum systems and rigid robot manipulators are given in this paper.
關鍵字output-feedback control; trajectory tracking; uncertain nonlinear systems
語言英文
ISSN1562-2479
期刊性質國內
收錄於SCI
產學合作
通訊作者
審稿制度
國別中華民國
公開徵稿
出版型式紙本
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