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Student Number 85344008 Author Fang-Ming Yu(¤×ªÚ»Ê) Author's Email Address fmyeu@mail.kwit.edu.tw Statistics This thesis had been viewed 1756 times. Download 1136 times. Department Electrical Engineering Year 2002 Semester 2 Degree Ph.D. Type of Document Doctoral Dissertation Language English Title Practical Fuzzy Sliding Mode Controller for Nonlinear

SystemsDate of Defense 2003-07-09 Page Count 104 Keyword fuzzy sliding mode controller nonlinear systems single fuzzy input Abstract A practical fuzzy sliding mode controller for uncertain time-delay with nonlinear

input systems and for a class of nonlinear systems is presented. The controller design

deals with the problems of the dimensionality of fuzzy input variables in fuzzy logic

control (FLC) and the chattering phenomena in sliding mode control (SMC)

effectively. The main results of the proposed method are as follows.

1. We propose two methods to reduce the number of fuzzy input variables. First,

without affecting the performance of the system, the proposed single-fuzzy- input

quasi fuzzy sliding mode controller (SQ-FSMC) by way of a composite state

function reduces the number of rules greatly. Second ly, the design of decoupled

single-fuzzy- input fuzzy sliding mode controller (SFI-FSMC) for the fourth-order

coupled systems shows a better performance than previous work.

2. For the chattering problem of the SMC, this phenomenon can be reduced

effectively with the proposed controller by adjusting the control input near the

sliding hyperplane.

3. A self-tuning single-fuzzy-input controller (ST-SFIC) can be easily applied to

uncertain time-delay dynamical systems with nonlinear input. The self-tuning

scheme dramatically improves the control input behavior. Also, the chattering

phenomenon is eliminated effectively. The control algorithm is convenient and

easy to utilize.

The above methods have been illustrated by the simulation results of the pole and the

cart systems as well as the ball and beam systems. In addition, the uncertain

time-delay with a nonlinear input system can be stabilized to the equilibrium. The

experimental results of the present seesaw system with external disturbance are given.Table of Content Contents I

Abstract III

List of Figures V

List of Tables VIII

Chapter 1 Introduction

1.1 Motivation and Background 1

1.2 Organization and Main Tasks 3

Chapter 2 Problems Formulations

2.1 Single- input Plant System 8

2.2 Coupled System 9

2.3 Uncertain Time-delay System with Nonlinear Input 11

Chapter 3 Methodology

3.1 Design of Single-fuzzy- input Quasi-FSMC (SQ-FSMC) 16

3.2 Design of Decoupled Fuzzy Logic Controller 21

3.3 Design of FSMC for Uncertain Time-delay Systems with

Nonlinear Input 25

3.4 Design of Self-tuning Single-fuzzy- input Controller (ST-SFIC) for

Uncertain Time-delay Systems with Nonlinear Input 31

3.4.1 Single- fuzzy- input Controller (SFIC) for Uncertain

Time-delay Systems with Nonlinear Input 31

3.4.2 Self-tuning Scheme and Scaling Factor 34

Chapter 4 Examples and Simulations

4.1 Two Examples of Single-fuzzy- input Quasi-FSMC (SQ-FSMC) 46

4.2 Three Examples of Decoupled Fuzzy Logic Controller 51

4.3 Example of FSMC for Uncertain Time-delay Systems with

Nonlinear Input 56

4.4 Example of Self- tuning Single-fuzzy- input Controller (ST-SFIC)

for Chattering Elimination of Uncertain Time-delay Systems with

Nonlinear Input 59

Chapter 5 Discussion and Conclusions 84

References 86

Author¡¦s Information 92

Publication List 93Reference 86

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Applications in Technology.. (to appear)Advisor Hung-Yuan Chung(ÁéÂE·½)

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85344008.pdf Date of Submission 2003-07-16

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