Robust Sliding Mode Fuzzy Control for Ship Sailing Dynamic Control Systems with State Variance and Output Energy Constraints

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Project title

Code/計畫編號

MOST106-2221-E019-003

Translated Name/計畫中文名

滿足狀態方差及輸出能量限制之船舶航行動態控制系統的強健滑動模式模糊控制研究

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=12277502

Year

2017

Start date/計畫起

01-08-2017

Expected Completion/計畫迄

31-07-2018

Bugetid/研究經費

829千元

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，強健特性需求、狀態方差限制及輸出能量限制也常被考慮於控制工程系統中。在本計畫中，我們所探討的船舶航行動態控制系統是以Takagi-Sugeno 模糊模型來表示。在文獻中，由於數學計算的複雜度，幾乎很少看到學者們探討非線性隨機系統的多重性能指標的限制控制問題。因此，本計畫之動機乃是考慮以Takagi-Sugeno 模糊模型來表示非線性隨機系統，同時，針對非線性隨機系統探討滿足個別狀態方差限制、輸出能量限制及強健特性需求之性能指標的控制問題。在本計畫中，我們期望針對連續型與離散型船舶航行動態控制系統，探討滿足閉迴路系統穩定性，同時達到強健特性需求、個別狀態方差限制及輸出能量限的性能指標需求。我們將以強健控制、模糊控制及滑動模式控制理論為基礎，利用Takagi-Sugeno 模糊模型來探討連續型與離散型船舶航行動態控制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強健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，同時並能滿足強健特性需求、個別狀態方差限制與被動限制的性能需求。最後，我們將利用進行電腦數值模擬來驗證本計畫所提出的強健滑動模式模糊控制方法之可行性及可應用性。"
"The multiple performance constrained control problem has gained more and more research attention in control engineering, recently. In addition to stability constraint, the robust performance requirement, state variance constraint and output energy constraint are also usually considered in the control engineering systems. The ship sailing dynamic control systems considered in this proposal are represented by the Takagi-Sugeno fuzzy models. In literature, there are few researchers discuss multiple performance constrained control problem for the nonlinear stochastic systems due to the complexity of mathematic computations. Therefore, the motivation of this proposal is to study the individual state variance constraint, output energy constraint and robust performance requirement for the control problem of the nonlinear stochastic systems represented by the Takagi-Sugeno fuzzy models. In this proposal, we will carry on our research results for guaranteeing the closed-loop system stability subject to robust performance requirement, individual state variance constraint and output energy constraint for continuous-time and discrete-time nonlinear ship sailing dynamic control systems. Based on robust control theory, fuzzy control theory and sliding mode control theory, we will discuss the stability analysis and synthesis of nonlinear ship sailing dynamic control systems via stochastic T-S fuzzy models. Employing the Linear Matrix Inequality (LMI) technique to solve the Lyapunov stability conditions, a PDC-based robust sliding mode fuzzy controller design approach is developed in this proposal to achieve the closed-loop system stability, individual state variance constraint, output energy constraint and robust performance requirement 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, output energy constraint and robust performance requirement, simultaneously. At last, some computer simulations are provided to show the feasibility and applicability of proposed robust sliding mode fuzzy control approach."

Keyword(s)

船舶航行動態控制系統
模糊控制
強健控制
滑動模式控制
狀態方差限制
輸出能量限制
Ship Sailing Dynamic Control Systems
Fuzzy Control
Robust Control
Sliding Mode Control
State Variance Constraint and Output Energy Constraint

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Robust Sliding Mode Fuzzy Control for Ship Sailing Dynamic Control Systems with State Variance and Output Energy Constraints

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