Control for Car-Pendulum Systems by Using Particle Swarm Optimization
碩士 === 義守大學 === 電子工程學系碩士班 === 98 === The main objective of this paper is to study Takagi-Sugeno (T-S) model of a nonlinear system. As a working example we propose one unknown nonlinear system described by T-S model, and utilize PDC design method to stabilize and control the plant. After collecting t...
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| Format: | Others |
| Language: | zh-TW |
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2010
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| Online Access: | http://ndltd.ncl.edu.tw/handle/12326242345214899369 |
| Summary: | 碩士 === 義守大學 === 電子工程學系碩士班 === 98 === The main objective of this paper is to study Takagi-Sugeno (T-S) model of a nonlinear system. As a working example we propose one unknown nonlinear system described by T-S model, and utilize PDC design method to stabilize and control the plant. After collecting the nonlinear system’s input and output data, the system identification is accomplished by the PSO algorithm. The design procedure of this method is illustrated by the example of an inverted pendulum on a moving car represented by a nonlinear unstable model with unknown parameters.
With the identified T-S model, we utilize these LMI conditions with relaxed stability and decay rate to explicitly design a stable fuzzy logic controller. Furthermore, the controlling results of the Car-Pendulum System when these controllers were adopted are presented in this paper.
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