摘要

本論文針對混合型系統有輸入/狀態飽和限制，發展輸出對參考目標的追蹤器，然後解決因致動器或內部元件部份損壞而導致性能衰退的問題，此輸出對參考目標追蹤器以觀測器為基礎的預測型數位再設計方法來設計。本論文研究包括三個方面 (i)在操作點上利用最佳線性化方法，得到一個非線性系統在任意操作點相對應的最佳線性化模型，套用以觀測器為基礎的預測型數位再設計方法，並利用附加內部補償迴路架構而改善由於輸入飽和所造成的非預期現象。(ii)串接系統同時有致動器輸入與內部狀態飽和限制時，以權重切換和內部補償迴路之架構，結合以觀測器為基礎的預測型數位再設計法則來設計追蹤器，其中權重切換係利用進化規劃法來求取最佳的系統參數設定值，以改善因上述非線性限制所造成反應遲緩現象。(iii)利用改良型卡爾曼濾波器自我調整控制器，以提高系統容錯功能，且能在部份致動器和/或系統參數發生錯誤時，做立即修正而保持整體系統應有的效能。上述基於以觀測器為基礎的數位再設計技術，針對含限制條件的混合系統所設計出之輸出對參考目標追蹤器，經由電腦模擬，証實能夠有效地實現控制目標。本論文的成果相信有助文獻上在混合系統有限制條件下的追踨器研發。

Abstract

This dissertation is dedicated to develop the output-reference tracker for the hybrid system with input/state saturation constraints and then to solve the problem of performance deterioration in the event of partial actuator or system component failures. The output-reference tracker is designed using the predicted observer-based digitally redesign approach. It includes the following three topics: (i) Using an optimal linearization approach to have the optimal linear model in the vicinity of the operating states, which closely matches the nonlinear system at operating states. The digitally redesigned predictive observer-based tracker is developed to track a desired periodic reference. Besides, an inner state compensator is added to account for the windup phenomenon. (ii) A digital redesign observer-based tracker scheme, which consists of a weighted switching strategy and an inner state compensator, is applied for the continuous-time cascaded system with actuator and state saturation. The weighted switching approach, using an evolutionary programming (EP) optimal search technique, improves the generally poor transition response caused by nonlinear constraints. (iii) A novel state-space self-tuning fault tolerant scheme using a modified Kalman filter algorithm to promote the ability of fault tolerance for cascaded system. The proposed method not only acquires the desired performance of the overall controlled closed-loop system but also actively tolerates the partial actuator and/or system component failures. The above-mentioned observer-based digital redesign technique is utilized in this dissertation to develop output-reference tracker for the hybrid system with input/state constraints. The effectiveness of the developed digital control methods are demonstrated by computer simulation. We believe the advantages of this dissertation are helpful to complete the theories and implements in literature for control of hybrid system with constraints.

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