| Summary: | 碩士 === 中國文化大學 === 機械工程學系數位機電碩士班 === 101 === In this thesis, an adaptive fuzzy PID sliding mode control (AFPIDSMC) scheme is proposed for a certain class of unknown nonlinear dynamical system. The proposed controller comprises of two types of controllers. One is fuzzy PID sliding-mode controller (FPIDSMC), which gives robust stability for system in the presence of parameter variations, uncertainties, and disturbances, and the other one is an adaptive tuner. The FPIDSMC acts as the main tracking controller, which is designed via a fuzzy system to mimic the merits of a PID sliding-mode controller (PIDSMC). While the adaptive tuner, which is derived in the sense of Lyapunov stability theorem, is utilized to adjust the parameter on-line for further assuring robust and optimal performance. In the proposed FPIDSMC, the fuzzy rule base is compact and only one parameter needs to be adjusted.
To verify its effectiveness and extend its application, the proposed AFPIDSMC is applied to path tracking for a control robots and to balance control for a two-wheel robot. In the first application, just only simulation results which are provided by MATLAB and whose advantages are presented in comparison with conventional AFSMC under the same environment. In the other application, the results are provided not only in simulation, but also in real world. The simulation results are also provided by MATLAB and are compared with conventional AFSMC while the experimental results are provided by using the E-NUVO platform.
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