An Approach to Robust Fuzzy Control for Lift Feedback Fin Stabilizer System of a Ship with Pole Placement and Variance Constraints

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Project title

Code/計畫編號

MOST107-2221-E019-050

Translated Name/計畫中文名

滿足極點配置及方差限制之船舶穩定翼昇力回授控制系統的強健模糊控制研究

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=12675801

Year

2018

Start date/計畫起

01-08-2018

Expected Completion/計畫迄

31-07-2019

Bugetid/研究經費

773千元

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、輸出方差限制及極點配置也常被考慮於控制工程系統中。在本計畫中，我們所探討的船舶穩定翼回授控制系統是以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、輸出方差限制、極點位置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穩定翼回授控制系統，探討滿足閉迴路系統之穩定性，同時達到強健特性需求、個別狀態方差限制、輸出方差限制及極點位置限制之性能指標需求。我們將以強健控制、模糊控制、協方差控制理論及極點配置為基礎，利用Takagi-Sugeno模糊模型來探討連續型與離散型船舶穩定翼回授控制系統的穩定性分析與解析。應用線性矩陣不等式 (LMI) 的技術於求解李亞普諾夫 (Lyapunov) 穩定性條件，一個以平行分佈補償 (PDC) 為基礎的強健模糊控制器設計方法將在本計畫中被開發。滿足狀態方差限制與輸出方差限制，可以確保在外部雜訊的作用下系統之狀態與輸出性能可以保持。再者，滿足極點配置限制，可以使控制系統達到我們對暫態響應的需求。因此，我們所研發的新方法將具有較好的暫態響應、抵抗系統不確定性之能力和雜訊消弭之能力。同時，並能滿足強健特性需求、個別狀態方差限制、輸出方差限制及系統極點位置限制的性能需求。最後，我們將進行數個電腦數值模擬來驗證本計畫所提出的強健模糊控制方法之可行性及可應用性。
The control problem of engineering systems with considering multiple performance constraints has received more and more research attention recently. In addition to stability constraint, the robust performance requirement, state variance constraint, output variance constraint and pole placement constraint are also usually considered in the control engineering systems. The lift feedback fin stabilizer system of a ship considered in this proposal is represented by the Takagi-Sugeno fuzzy model. 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 variance constraint and pole placement constraint for the robust fuzzy 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 individual state variance constraint, output variance constraint and pole placement constraint for continuous-time and discrete-time nonlinear lift feedback fin stabilizer system of a ship. Based on robust control theory, fuzzy control theory, covariance control theory and pole placement theory, we will discuss the stability analysis and synthesis of nonlinear ship sailing dynamic control systems via uncertain stochastic T-S fuzzy models. Employing the Linear Matrix Inequality (LMI) technique to solve the Lyapunov stability conditions, a PDC-based robust fuzzy controller design approach is developed in this proposal to achieve the closed-loop system stability, individual state variance constraint, output variance constraint, pole placement constraint and robust performance requirement for stochastic T-S fuzzy models. It can be found that if the variance constraints are satisfied, the stochastic behaviors of system state and output under the disturbance effects can be suppressed. Moreover, if the pole placement constraint is satisfied, the expected transient behaviors of system can be achieved. Therefore, satisfying pole placement constraint, individual state variance constraint, output energy constraint, and robust performance requirement, simultaneously, our proposition will have the ability of good transient behaviors, uncertain plant error term rejection, and noise attenuation. At last, some computer simulations are provided to show the feasibility and applicability of proposed multiple performance constrained robust fuzzy control approach.

Keyword(s)

船舶穩定翼回授控制系統
模糊控制
強健控制
狀態方差限制
輸出方差限制
極點配置
Lift Feedback Fin Stabilizer System of a Ship
Fuzzy Control
Robust Control
State Variance Constraint
Output Variance Constraint and Pole Placement

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An Approach to Robust Fuzzy Control for Lift Feedback Fin Stabilizer System of a Ship with Pole Placement and Variance Constraints

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