Energy Constrained Sliding Mode Fuzzy Control for Ship Steering Systems via T-S Fuzzy Model with Bilinear Consequent Part

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Project title

Code/計畫編號

MOST105-2221-E019-032

Translated Name/計畫中文名

基於具雙線性後件部之T-S模糊模型探討船舶操控系統在能量限制下的滑動模式模糊控制

Project Coordinator/計畫主持人

Wen-Jer Chang

Funding Organization/主管機關

National Science and Technology Council

Department/Unit

Department of Marine Engineering

Website

https://www.grb.gov.tw/search/planDetail?id=11879024

Year

2016

Start date/計畫起

01-08-2016

Expected Completion/計畫迄

31-07-2017

Bugetid/研究經費

821千元

ResearchField/研究領域

電子電機工程

"多重性能需求控制問題在最近的控制工程領域中受到極為廣泛的注意，除了穩定性的性能需求外，能量限制的需求在隨機控制系統中也扮演了重要的指標角色，在本計畫中，我們所考慮的能量限制包含了個別狀態方差限制及被動限制的性能需求。在本計畫中，非線性系統是以具雙線性後件部之Takagi-Sugeno 模糊模型來表示。在文獻中，幾乎很少看到學者們探討非線性隨機系統的個別狀態方差限制之控制器設計問題。此外，被動性能限制可以被用來建構系統與外部雜訊間之能量變化，並用來探討系統受雜訊的影響，進而達到消弭雜訊的目的。因此，本計畫之動機乃是基於具雙線性後件部之Takagi-Sugeno模糊模型，探討船舶操控系統在能量限制下的滑動模式模糊控制，以滿足個別狀態方差限制及被動限制之性能需求。在本計畫中，我們期望針對連續型與離散型船舶操控系統，探討滿足閉迴路系統穩定性、個別狀態方差限制與被動限制之控制問題。我們將利用具雙線性後件部之Takagi-Sugeno 模糊模型來探討具乘積雜訊非線性隨機系統的穩定性分析與解析。在利用線性矩陣不等式 (LMI) 的技術求解李亞普諾夫 (Lyapunov) 穩定條件的應用下，一個以平行分佈補償為基礎的滑動模式模糊控制器設計方法將在本計畫中被開發。當滑動模式模糊控制器在選取適當的切換函數後，我們可以發現，在滑動模式下之誤差系統將會對系統的不確定誤差及參考模組輸入具有較不靈敏的特性。因此，我們所研發的新方法將具有較好的追蹤響應能力、抵抗系統不確定誤差能力、雜訊消弭之能力，同時並能滿足個別狀態方差限制與被動限制的性能需求。"
"performance is also an important index for the stochastic control systems. The energy constraints considered in this proposal include individual state variance constraint and passivity constraint. The nonlinear systems considered in this proposal are represented by the Takagi-Sugeno fuzzy models with bilinear consequent part. In literature, there are few researchers discuss this control problem for the nonlinear systems due to the complexity of mathematic computations. Besides, the passivity constraint can be associated as the energy change between the system and external disturbance. The passivity constraint is employed to discuss the effect of disturbance on system such that the attenuation performance is achieved. Therefore, the motivation of this proposal is to study the individual state variance constraint and passivity constraint for the control problem of the nonlinear ship steering control system represented by the Takagi-Sugeno fuzzy model with bilinear consequent part. In this proposal, we will carry on our research results for guaranteeing the closed-loop system stability, individual state variance constraint and passivity constraint of continuous-time and discrete-time nonlinear ship steering control systems. We will discuss the stability analysis and synthesis of multiplicative noised nonlinear stochastic systems via stochastic T-S fuzzy models with bilinear consequent part. Employing the Linear Matrix Inequality (LMI) technique to solve the Lyapunov stability conditions, a PDC-based sliding mode fuzzy controller design approach is developed in this proposal to achieve the closed-loop system stability, individual state variance constraint and passivity constraint for stochastic T-S fuzzy models. It can be found that if a proper switching function is chosen, the error system in the sliding mode is insensitive to the uncertain plant error term and reference model input. That is the system has an ability to reject the uncertain plant error term and reference model input. Therefore, our proposition has the ability of good tracking response, uncertain plant error term rejection, noise attenuation, satisfying individual state variance constraint and passivity constraint, simultaneously."

Keyword(s)

模糊控制
協方差控制
滑動模式控制
狀態方差限制
被動限制
Fuzzy Control
Covariance Control
Slide Mode Control
State Variance Constraint and Passivity Constraint

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Energy Constrained Sliding Mode Fuzzy Control for Ship Steering Systems via T-S Fuzzy Model with Bilinear Consequent Part

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