Robust Control for Uncertain Fuzzy Nonlinear Time-Delay Systems with Application to Practical Systems

不确定模糊非线性时滞系统的鲁棒控制及其在实际系统中的应用

基本信息

批准号：
16500139
负责人：
YONEYAMA Jun
金额：
$ 2.31万
依托单位：
Aoyama Gakuin University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2004
资助国家：
日本
起止时间：
2004 至 2007
项目状态：
已结题

项目摘要

In this research project, system analysis and synthesis of Takagi-Sugeno fuzzy systems with time-delay and uncertainties were concerned. First, stability analysis on a nominal fuzzy system with time-invariant delay was considered. In general, it is difficult to obtain a necessary and sufficient stability condition for the system because a system under consideration is a nonlinear time-delay system. Hence, an original nonlinear time-delay system was transformed into a fuzzy time-delay system and a stability condition for a fuzzy time-delay system was obtained as a sufficient condition via linear matrix inequality. In the derivation of stability condition, Leibniz-Newton formula and free weighting matrix method were employed to reduce the conservatism in stability condition. A stability condition was extended to a robust stability condition for a fuzzy time-delay system with uncertainties in system matrices. Based on such stability conditions, stabilizing controller for a nominal fuzzy time-delay system and robust stabilizing controller for an uncertain fuzzy time-delay system were designed. As for a class of systems, not only systems with discrete delays but also systems with discrete and distributed delay are concerned. As for time delays, not only time-invariant delays but also time-varying delays were considered. Moreover, an Hoc controller design which attenuate system disturbances and measurement noises was proposed. An Hoc filter which plays an important role in control design for a fuzzy time-delay system was also given. Finally, the above theoretical design was applied to practical systems. After making numerical simulations, controllers designed as above were applied to practical systems such as inverted pendulum and helicopter. It was found that such controllers worked well for those practical systems.

本研究项目关注的是具有时滞和不确定性的Takagi-Sugeno模糊系统的系统分析与综合。首先，考虑了具有时不变延迟的标称模糊系统的稳定性分析。一般来说，由于所考虑的系统是非线性时滞系统，很难获得系统的充分必要的稳定性条件。因此，将原来的非线性时滞系统转化为模糊时滞系统，并通过线性矩阵不等式得到了模糊时滞系统的稳定性条件作为充分条件。在稳定性条件的推导中，采用莱布尼茨-牛顿公式和自由权矩阵法来降低稳定性条件的保守性。将稳定性条件推广为具有系统矩阵不确定性的模糊时滞系统的鲁棒稳定性条件。基于这样的稳定性条件，设计了标称模糊时滞系统的稳定控制器和不确定模糊时滞系统的鲁棒稳定控制器。对于一类系统，不仅涉及离散时延系统，而且还涉及离散、分布式时延系统。对于时滞，不仅考虑时不变时滞，还考虑时变时滞。此外，还提出了一种衰减系统干扰和测量噪声的Hoc控制器设计。还给出了一种在模糊时滞系统控制设计中起重要作用的Hoc滤波器。最后将上述理论设计应用到实际系统中。经过数值模拟后，将上述设计的控制器应用于倒立摆、直升机等实际系统中。人们发现这种控制器对于那些实际系统来说效果很好。

项目成果

期刊论文数量（70）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

H∞Control Analysis and Synthesis for Takagi-Sugeno Ceneral Uncertain Fuzzy Systems

Takagi-Sugeno一般不确定模糊系统的H∞控制分析与综合

DOI：
发表时间：
2006
期刊：
Fuzzy Sets and Systems 157, 16
影响因子：
0
作者：
Jun;Yoneyama
通讯作者：
Yoneyama

Robust Hoo Controller Design of Uncertain Fuzzy Systems with Discrete and Distributed Delays

具有离散分布时滞的不确定模糊系统的鲁棒Hoo控制器设计

DOI：
发表时间：
2007
期刊：
Advances in Fuzzy Sets and Systems 2, 3
影响因子：
0
作者：
Jun;Yoneyama
通讯作者：
Yoneyama

H∞ Control Analysis and Synthesis for Takagi-Sugeno General Uncertain Fuzzy Systems

Takagi-Sugeno一般不确定模糊系统的H∞控制分析与综合

DOI：
发表时间：
2006
期刊：
Fuzzy Sets and Systems 157
影响因子：
0
作者：
Jun;Yoneyama;Jun Yoneyama;Jun Yoneyama;Jun Yoneyama;Jun Yoneyama;Jun Yoneyama;Jun Yoneyama;Jun Yoneyama
通讯作者：
Jun Yoneyama

Robust H∞ Filtering of Fuzzy Systems with Time Varying Discrete and Distributed Delays

时变离散分布时滞模糊系统的鲁棒H∞滤波