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2025-05-22 07:58本頁面
【正文】 ssible to obtain rule membership functions which are regionwise affine functions of the controller input variable. We propose a linear defuzzification algorithm that keeps this regionwise affine structure and yields a piecewise affine controller. A particular and systematic parameter tuning method will be given which allows turning this controller into a variable structurelike controller. We will pare this regionwise affine controller with a Fuzzy and Variable Structure Controller through the application to an inverted pendulum control. 通過梯形輸入隸屬函數(shù)的使用和適當(dāng)?shù)淖鲌D法和推論方法，這將說明那是有可能遵循規(guī)則區(qū)域勸導(dǎo)的輸 入變量仿射函數(shù)的隸屬函數(shù)。在特殊情況下開關(guān)線將相平面分成 一個(gè)區(qū)域那個(gè)區(qū)域中控制是正的反之另一邊是負(fù)的，模糊控制器可以視為一個(gè)可變結(jié)構(gòu)的控制器。一個(gè)級(jí) 數(shù)空間的分割可以在控制器有區(qū)域勸導(dǎo)的常數(shù)參數(shù)中找到。通常，模糊控制器有一個(gè)區(qū)域勸導(dǎo)的性質(zhì)是模糊化級(jí)數(shù)給的輸入空間。 Experimental robustness properties of fuzzy controllers remain theoretically difficult to prove and their synthesis is still an open problem. The nonlinear structure of the final controller is derived from all controllers at the different stages of fuzzy control, particularly from mon defuzzification methods (such as Centre of Area). In general, fuzzy controllers have a regionwise structure given the partition of its input space by the fuzzification stage. Local controls designed in these regions are then bined into sets to make up the final global control. A partition of the state space can be found for which the controller has regionwise constant parameters. Moreover, each fuzzy controller tuning parameter (. the shapes and the values of input or output variables membership functions) influences the values of parameters in several regions at the same time. In the particular case of a switching line separating the phase plane into one region where the control is positive whereas in the other it is negative, the fuzzy controller may be seen as a variable structure controller. This kind of a fuzzy controller can be assimilated to a variable structure controller with boundary layer such as in, for which stability theorems exist, but with a nonlinear switching surface. 模糊控制裝置的實(shí)驗(yàn)的健全的性質(zhì)難以用理論去證明它們的綜合仍然是一個(gè)未解決的問題。因此，在評(píng)估的精確 性中控制一些誤差動(dòng)力學(xué)的條件減少了一些不確定性（就如同在傳統(tǒng)的 SMC 中）。 In this paper we suggest an approach to the design of decentralized motion controllers for electromechanical systems besides the sliding mode motion controller structure and disturbance torque estimation. The accuracy of the estimation is the critical parameter for robustness in this scheme, as opposed to the upper bounds of the perturbations themselves. Consequently, the driving terms of the error dynamics are reduced from the uncertainties (as in the conventional SMC) to the accuracy in their estimates. The result is a much better tracking accuracy without being over conservative in control. 在這篇論文中我們提出一個(gè)機(jī)電系統(tǒng)中分散震動(dòng)控制器的設(shè)計(jì)方法除了滑模震動(dòng)控制器結(jié)構(gòu)和干擾轉(zhuǎn)矩的估算。 Another important issue limiting the practical applicability of SMC is the over conservative control law due to the upper bounds of the uncertainties. In practice most often the worst case implemented in control law does not take place and the resulting large control inputs bee unnecessary and uneconomical. 另外一個(gè)重要的論點(diǎn)限定了 SMC 的實(shí)際應(yīng)用性就是創(chuàng)新的控制定律導(dǎo)致上面的不確定因素的范圍。這是一個(gè)眾所周知的難題并且廣泛的在文獻(xiàn)中經(jīng)過處理。通常這個(gè)現(xiàn)象是令人不快的，它會(huì)引起額外的控制作用從而導(dǎo)致激勵(lì)者穿戴的增加和未建模動(dòng)力學(xué)的刺激?；？刂破?(SMC)是基于變結(jié)構(gòu)控制使用的如果模型結(jié)構(gòu)中的錯(cuò)誤在已知的范圍內(nèi)躍進(jìn)。在這篇論文中， 構(gòu)造好的和未構(gòu)造好的不確定因素是主要的興趣所在，也就是說模型的誤差導(dǎo)致參數(shù)變化和未模型化的模式 ，尤其是摩擦力和敏感元件的力度，被忽視的時(shí)間延遲等等。模型不是一 個(gè)準(zhǔn)確的實(shí)體表現(xiàn)，模型的誤差是不可避免的。 Prescribed trajectory tracking with certain accuracy is a main task of
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