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    請使用永久網址來引用或連結此文件: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/115963

    題名: Hybrid Intelligent Output-Feedback Control for Trajectory Tracking of Uncertain Nonlinear Multivariable Dynamical Systems
    作者: Chien, Y.H.;Wang, W.Y.;Li, I.H.;Lian, K.Y.;Lee, T.T.
    關鍵詞: output-feedback control;trajectory tracking;uncertain nonlinear systems
    日期: 2012-03
    上傳時間: 2019-03-14 12:10:26 (UTC+8)
    出版者: Springer
    摘要: Output-feedback control for trajectory tracking is an important research topic of various engineering systems. In this paper, a novel online hybrid direct/indirect adaptive Petri fuzzy neural network (PFNN) controller with stare observer for uncertain nonlinear multivariable dynamical systems using generalized projection-update laws is presented. This new approach consists of control objectives determination, approximator configuration design, system dynamics modeling, online control algorithm development, and system stability analysis. According to the importance and viability of plant knowledge and control knowledge, a weighting factor is utilized to sum together the direct and indirect adaptive PFNN controllers. Therefore, the controller design methodology is more flexible during the design process. Besides, an improved generalized projection-update law is utilized to tune the adjustable parameters to prevent parameter drift. To illustrate the effectiveness of the proposed online hybrid PFNN controller and observer-design methodology, numerical simulation results for inverted pendulum systems and rigid robot manipulators are given in this paper.
    關聯: International Journal of Fuzzy Systems 14(1), p.141-153
    DOI: 10.30000/IJFS.201203.0014
    顯示於類別:[機械與機電工程學系暨研究所] 期刊論文


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