純反饋延遲系統之間接適應性類神經控制與應用

文化大學機構典藏 CCUR > 理工學院 > 工學院 > 機械工程系暨機械工程學系數位機電研究所 > 研究計畫 > Item 987654321/45287

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题名:	純反饋延遲系統之間接適應性類神經控制與應用 Indirect Adaptive Neural Control of Delayed Pure-Feedback Systems and Applications
作者:	黃正自
贡献者:	機械工程學系數位機電碩士班
关键词:	純反饋系統時間延遲間接適應性類神經多層切換動態曲面控制網路控制全向輪型機器人
日期:	2019-2020
上传时间:	2019-11-08 09:52:11 (UTC+8)
摘要:	基於純反饋系統的廣泛應用性，例如:達方振盪器、飛機飛行控制系統、機械系統等，相關的控制議題近年來吸引了眾多關注。另一方面，網路控制技術的發展對於我國工業自動化亦扮演關鍵角色，而其中的核心議題即為如何克服因網路通訊延遲所造成系統效益較低甚至發生不穩定現象。有鑑於此，本計畫針對純反饋延遲系統，擬發展出一種多切換式間接適應性神經網路控制設計來解決相關的追跡問題。此方案在神經網路近似區內，使用適應線性化控制，而在接近控制奇異點或系統狀態逃逸出近似區時，將控制權轉移至輔助的強健控制器，直到危機解除。其次，為避免複雜性爆發及代數迴路問題，將同時採用動態曲面技術，利用上一計畫中獲致的成果 - 控制器-濾波器可分離特性，相應的穩定性分析預計將比大多數現有類似的設計簡單許多。在本計畫的理論設計完成之後，接著將應用於主僕式架構下的協調式全向輪車系統上。相關實踐除能驗證所發展之控制設計有效性外，對於機器人系統的網路控制實際應用發展，更提供另一可行的解決方案。 Owing to its great practical applicability, such as the Duffing oscillator, aircraft flight control systems, mechanical systems, etc., control of pure-feedback systems has received a lot of attentions in recent years. On the other hand, networked control technology now plays key role in the automation industry of our country. The central issue is how to overcome the discounted performances and even instability due to the communication delays. Regarding this, the project aims to synthesize an indirect adaptive neural control design for non-affine pure-feedback systems with unknown nonlinearities and time-delays. The control algorithm consists of three major pars, first, a nominal adaptive linearizing controller dominated in the neural approximation region, second, an auxiliary robust controller for avoiding the control singularity and pulling back the escaped transients, third, the dynamic surface control for solving the explosion of complexity and algebraic loop problems at the same time. The control objective is to achieve the global tracking stability while consume less control efforts than most existing schemes. Noticeably, the stability analysis will be much easier than the existing schemes based on the feature of separation of the controller-filter pairs achieved in our last project, sponsored by MOST. Next, the synthesized algorithm will be applied to the networked control of master-slave coordinated omnidirectional mobile robots to demonstrate its validity. Comparing with existing schemes, it is more appealing to practical applications for its ability of ensuring the global tracking stability without relying on the prior knowledge of system parameters.
显示于类别:	[機械工程系暨機械工程學系數位機電研究所] 研究計畫

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