IU KHIN M THCH NGHI TRC TIP CHO H THNG PHI TUYN RI RC

DNG VNG TR THAY I THEO THI GIAN

Tm tt: mt m hnh iu khin m thch nghi trc tip c pht trin cho mt lp cc h
thng phi tuyn min ri rc. trong m hnh ny, h thng iu khin m c dng thit k
b iu khin trc tip v cc h s c thay i bng vng tr thay itheo thi gian vkch c
ca n c hiu chnh thch nghi bng vic c lng bin ca xp x sai s. M hnh thit k
d kin s m bo tt c cc tn hiu tr v trong h thng vng kn l gii hn v sai s s hi
t v mt im ln cn ca gi tr t. Kt qu m phng s chng t hiu qu ca m hnh ny.
1. Gii thiu
Trong vi nm tr li y, rt nhiu k thut iu khin thch nghi m c pht trin iu khin
cc h thng phi tuyn m ta cha hiu r m hnh ng hc ca n. Tuy nhin, kt qu ch gii
hn cc h thng lin tc, cha m rng c cho cc h thng min ri rc. Trong cc ng
dng thc tin hu ht cc b iu khin m c thc hin trn cc my tnh s khi m tn hiu
ch c th l tn hiu ri rc cc bc thi gian c th, c nh v dn n mt s u im ca
b iu khin lin tc s b mt i trong min ri rc. iu ny dn n vic cn thit ca cc b
iu khin min ri rc ch khng ch l b iu khin lin tc. Thi gian gn y, b iu khin
ri rc m cho lp cc h thng iu khin hi tip cho cc h ng hc phi tuyn c tuyn
tnh ha c gii thiu [6-9]. Trong [8], m hnh iu khin thch nghi trc tip c gii thiu
trong dng Takas-Segno Fuzzy System (TASS) c dng vi chc nng xp x, mt vng
tr lin tc c thi gianthay i c dng m bo tnh hi t ca sai s trong ln cn.
Trong [9], tc gi gii thiu m hnh iu khin thch nghi gin tip s dng TASS v kt qu
nhn c n nh. Trong [8] v [9], li thch nghi c cp nht theo hng ti u ha hm
mc tiu [10], Trong [11], iu khin thch nghi trc tip cho lp iu khin phi tuyn ri rc
c gii thiu. Trong [8-11], lut thch nghi c thit k trong min tr lin tc v thi gian
ny da trn kt qu xp x ca sai s ca b iu khin m v do cn thit phi gi s rng
gii hn ca nhiu c th bit c. Mc d xp x ca sai s l gii hn, khng may thay trong
nhiu h thng thc t th gii hn khng c th v khng bit chc v cn phi th sai, dn
n n kt qu ch nm trong mt khong tr nht nh.
Trong bi bo ny, phng php iu khin m thch nghi trc tip c pht trin cho cc h
thng phi tuyn m ta cha hiu r m hnh ng hc ca n. Trong nghin cu ny, h thng
logic m c dng thit k trc tip b iu khin v cc h s cha bit s c thay i
trong khong thi gian cht m ln c thay i thch nghi theo gii hn c lng ca sai
s ca b iu khin m.
2. iu khin m thch nghi trc tip
Xem xt h thng mt vo mt ra (SISO) trong min ri rc sau:
y(k d ) f ( x(k )) g ( x(k ))u(k )

(1)

Vi u(k) v y(k) l ng vo v ng ra ca h thng, d l khong thi gian tr ca h thng

v x(k) = [y(k), , y(kn), u(k1), , u(k m)]T, f ( x(k )) v g ( x(k )) l cc hm trn cha bit
vi cc gi nh di y:
Gi nh 1:Tn ti mt hng s g1 tha g ( x(k )) g1
i tng iu khin ca bi bo ny l thit k b iu khin thch nghi m u ra y(k) ca
h thng bm theo tn hiu tham chiur(k) v m bo tt c cc tn hiu ca h thng thng
vng kn b chn.
Nu cc hm f ( x(k )) v g ( x(k )) l xc nhmt th i tng (1) c xc nh v b iu khin
cn tm:
f ( x(k ) r (k d ))
u * (k )
(2)
g ( x(k ))
s iu khin ng ra h thng bm hon ton theo qu o ca tn hiu tham chiu r(k)
e(k d ) r (k d ) y(k d ) 0
ngha l sau d bc, chng ta c e(k) = 0.
Trong trng hp f ( x(k )) v g ( x(k )) l cha bit, tng ca b iu khin (2) khng
th p dng, chng ta gi s b iu khin c th c xp x bng h thng iu khin m. Vic
s dng b iu khin m l tp hp ca cc lut theo cu trc IF-THEN:
R(l): IF x1 l 1 v v xn l , THEN y l Gl
Trong :
x = (x1,., xn)T v y l ng vo v ng ra ca b iu khin fuzzy logic, v Gl l cc tp m,
vi l = 1, , m.
Bng vic s dng h m singleton (dng vch), phng php suy din dng tch v phng
php gii m trng tm th ng ra ca b iu khin m nh sau:
m

y f ( x)

y
j 1

i 1

Fi j

( xi )

j 1 i 1

Fi j

(3)

( xi )

Trong : l gi tr m ti hm lin thuc caGlt gi tr ln nht.

Bng vic s dng khi nim cc hm c s, vvector hm c s (x) , ng ra t (3) c th c
vit gn li di dng:

y ( x) T ( x)

(4)

Trong :

( x) ( y1,..., y m )T

( x) ( 1 ( x),..., m ( x))T
n

( x)
j

i 1

Fi j

( xi )

j 1 i 1

Fi j

( xi )

T y, tng cho tn hiu iu khinu*(k)vit gn l u:

u (k ) u ( x (k ) | )

(5)

Vi:

x (k ) ( xT (k ), r (k d ))T
T (1), (2) v (5) sai s c th vit li:

e(k d ) g ( x(k ))(u* (k ) u( x (k ) | ))

nh ngha hm ti u ca b iu khin m:

* arg min[sup | (u* (k ) u( x (k ) | ) |]

xU

Vi l tp hp cc gi tr thng sca b iu khin. Ch rng cc thng s ti u l dng

cho mc ch phn tch. nh ngha:

(k ) * (k )
l h s d bo sai s v (k ) u* (k ) u( x (k ) | * ) l xp x nh nht ca sai s.
Trong bi bo ny, chng ta gi s h thng m c s dng khng xung t vi tnh cht xp
x vn nng (universal approximation) trong tp hp U.Tp hp U c gi s ln duy tr
bin trng thi trong vng iu khin hi tip. Do vy vic gi s sai s xp x nh nht b chn
l hp l vi mi U v ta c:
Gi nh 2: Tn ti hng s * tha (k ) * v nh ngha() l gn ng ca * . Vi nh
ngha nh trn, php tnh ca sai s (6) c th c vit li:

e(k d ) g ( x(k )) T (k ) ( x (k )) g ( x(k ))(k )

(7)

 c th t c mc tiu iu khin, trong [8-11] mt vng tr thay i theo thi gian c

dng thit k lut thch nghi, nhng cn thit phi c gii hn ca xp x ca sai s. Trong bi
bo ny, chng ta dng vng tr thay i theo thi gian thit k lut thch nghi. Kch c vng
tr c thay i thch nghi theo lut cp nht thng s sau:

(k ) g1 (k d )

(8)

Vng tr thay i theo thi gian c nh ngha theo [3] nh sau:

e(k ) sign(e(k )) (k ) khi | e(k ) | (k )

e (k )
khi | e(k ) | (k )
0

(9)

S dng lut thch nghi di y cp nht h s (k):

(k ) (k d ) | e (k ) | vi > 0

(10)

H s (k) s c cp nht thng qua lut thch nghi:

(k ) (k d ) ( x(k d ))e (k ) vi > 0

(11)

nh l sau y th hin b iu khin m thch nghi trc tip:

nh l 1:Cho i tng xc nh bi (1) tha cc gi nh 1 v 2 vi

2
, lut iu khin
g1

(5) vi lut thch nghi (8), (10) (11) s m bo tt c cc tn hiu ca h thng vng kn b chn
v sai s s hi t lm cho ng ra ln cn ca tn hiu mong mun.
Chng minh:nh ngha h s sai s (k ) * (k ) , t (10) v (11), c th biu
din nh sau:

(k ) (k d ) | e (k ) |

(12)

(k ) (k d ) ( x(k d ))e (k ) (13)

Xem xt hm sau:

V (k )
Vi V (k ) V (k ) V (k d )
Trng hp: khi |e(k)| ()

T (k ) (k )

(k ) T (k )

(14)

Trong trng hp ny (k) = 0, nh vy V (k ) 0 . Nh vy ch c |e(k)| > () c xem xt

trong phn chng minh tip theo.
Trng hp: |e(k)| > (), ta c:

V (k ) 2 T (k d ) ( x (k d ))e (k ) | ( x (k d )) |2 e2 (k ) 2 (k d ) | e (k ) | e2 (k )
(15)
Trn c s ca (7), ta c:

T (k d ) ( x (k d ))

e(k )
(k d ) (16)
g ( x(k d ))

T (16) v (15) ta c:
e(k )e (k )
2 (k d )e (k ) | ( x (k d )) |2 e2 (k ) 2 (k d ) | e (k ) | e2 (k )
g ( x(k d ))

V (k ) 2

(17)
T (9) ta c:

e(k ) e (k ) sign(e(k )) (k ) (18)

V:

sign(e(k ))e (k ) | e (k ) |

(19)

S dng (18), (19) v gi nh 1, ta thu c:

V (k ) 2

e2 (k )
| e (k ) |
2
(k ) 2 * | e (k ) | | ( x (k d )) |2 e2 (k ) 2 (k d ) | e (k ) | e2 (k )
g1
g1

(20)
T (8) v (10), (20):

V (k ) (

2
| ( x (k d )) |2 )e2 (k ) (21)
g1

2
v | ( x (k d )) |2 1 :
g1
V (k ) 0 (22)

iu ny m bo V(k) gii hn v b chn.

Chng minh (k) v (k ) gii hn v b chn:

t

2
(22)
g1

T (21) ta nhn c:

V (k ) V (k d ) e2 (k ) (23)
Tng ca (23) t dnkta c:

V (d ) V (0) e2 (0)

V (d 1) V (1) e2 (1)

V (k ) V (k d ) e2 (k )
Suy ra:
k

V (d ) .. V (k d ) V (k d 1) ... V (k ) V (0) V (1) ... V (d ) ... V (k d ) e2 ( j )

j d

Hay:
k

V (k ) V (k 1) ... V (k d 1) V (0) V (1) ... V (d ) e2 ( j ) (24)

j d

Chng ta bit rng vi k>0 ty , V(k) b chn, nh vy:

l

lim e2 (k ) (25)
l

k d

iu ny chng t:

lim e2 (k ) 0

(26)

T (9) ta kt lun rng e(k) <(k), do sai s s hi t lm cho ng ln cn ca tn hiu mong

mun.
Lu 1: iu kin ban u cho (k) l (0) > 0. T (10) chng ta c (k)> 0 do (k) > 0. V
(k) b chn dn n (k) b chn.

3. M phng
Xem xt m hnh bn th hin qua phng trnh sai phn bn di [10]:

dh(t ) c 2 gh(t )
1

u (t )
dt
Ar (h(t ))
Ar (h(t ))
vi u(t) l ng vo (tn hiu iu khin), h(t) l mc cht lng (ng ra ca h thng),Ar(h(t)) l
tit din ngang ca bn, g = 9.8 m/s2, d l tit din ngang ca ng x u ra. Ta s dng cc h
s ca [10]:d = 1, Ar (h(t )) ah(t ) b ,a = 1, b = 3. S dng xp x Euler ta c:

19.6h(k )

1
h(k 1) h(k ) T

u (t )
Ar (h(k ))
Ar (h(k ))

(27)

Vi T = 0.1s l thi gian ly mu. Lu l h thng (27) c cng dng (1) vi:
f ( x(k )) h(k ) T

19.6h(k )
h( k ) 3

, g ( x(k ))

T
h( k ) 3

H thng s c m phng vi h(k) > 0.

Vi g ( x(k ))

T
ta c: 0 <g(x(k)) < 0.577T
h( k ) 3

Tn hiu iu khin u* (k ) s c xp x da trn h thng iu khin m (4), vi u vo l h(k)

v r(k+1). m bo h(k) v r(k+1) nm trong vng chn, chng ta s dng biu thc lin
kt bn di:

h (k )

h( k )
1 | h(k ) |

D thy (-1,1) vi mi h(k) ty v tng t cho r(k+1).

Tn hiu tham chiu gi s l r(k) = 2 + sin(k/150). Vi iu kin u y(0) = 0.5, (0) = 0.1 v
mi thnh phn ca(0) c chn ngu nhin trong khong [-0.5,0.5], = 15, = 0.02.
Bin vo ca b iu khin m lx1 = h(k)v x2 = r(k + 1), hm lin thuc chox1v x2c chn
nh sau:

xi 1 2

F 1 ( xi ) exp
i
0.7

 xi 2

0.7

F ( xi ) exp
2

xi 1 2

F 3 ( xi ) exp
i
0.7

Level

3
r
y

2
1
0

100

200

300

400

500

600

700

800

900

1000

10

Voltage

100

200

300

400

500

600

700

800

900

0.1

e
delta

0.05
Error

1000

0
-0.05
-0.1

100

200

300

400

500
Time (sec)

600

700

800

900

1000

Kt que(k) s hi t v b gii hn trong khong (k), iu ny ngha l sai s s hi t v u

ra tin n ln cn ca tn hiu tham chiu.
4. Kt lun:
Mt m hnh iu khin m thch nghi trc tip c pht trin cho mt lp cc h thng phi
tuyn min ri rc m ta cha nm r c m hnh ng hc. Phng php ny khng cn
gii hn ca c tnh ca sai s bi v gii hn cha bit s c d on s dng lut thch
nghi v kch thc ca vng tr s c thay i thch nghi vi c tnh ca gii hn. iu ny
chng minh c m hnh c kh nng gim st s hi t ca sai s n mt mc mong mun
u ra tin n gn tn hiu tham chiu.
TI LIU THAM KHO
[1] L.X.Wang,Stable adaptive fuzzy control of nonlinear systems,IEEE Trans. Fuzzy Systems,Vol.
1,No.1,146-155,1993.

[2] B.S.Chen,C.H.Lee and Y.C.Chang,H tracking design of uncertain nonlinear SISO systems:adaptive
fuzzy approach, IEEE Trans.Fuzzy Systems,Vol.2,No.4,32-43,1996.
[3] Keun-Mo Koo,Stable adaptive fuzzy controller with timevarying dead-zone,Fuzzy Sets and Systems,
Vol.121,161-168,2001.
[4] Tong Shaocheng,Li HanXiong,Direct adaptive fuzzy output tracking control of nonlinear systems,
Fuzzy Sets andSystems,Vol.128,No.1,107-115,2002.
[5] Jang-Hyun Parka, Sam-Jun Seob, and Gwi-Tae Parka, Robust adaptive fuzzy controller for nonlinear
system using estimation of bounds for approximation errors, Fuzzy Sets and Systems,Vol.133,1936,2003.
[6] S.Jagannathan, M.W.Vandegrift, and F.L.Lewis,Adaptive fuzzy logic control of discrete-time
dynamical systems, Automatica, Vol.36,No.2:229-241,2000.
[7] S.Jagannathan,Adaptive fuzzy logic control of feedback linearizable discrete-time dynamical systems
under persistence of excitation, Automatica, Vol.34,No.11,1295-1310,1998.
[8] T.J.Spooner,R.Ordonez and K.M.Passin, Direct adaptive fuzzy control for a class of discrete time
systems, in Proc.Amer.Control Conf., Albuquerque, June 4-6: 1814-1818,1997.
[9] T.J.Spooner,R.Ordonez and K.M.Passin,Indirect adaptive fuzzy control for a class of discrete time
systems,in Proc.Amer.Control Conf., Albuquerque, June 4-6:3311-3315,1997.
[10] H.N.Nounou and K.M.Passin,Stable auto-tuning of adaptive fuzzy/neural controllers for nonlinear
discrete-time systems,IEEE
Trans.Fuzzy Systems,Vol.12,No.1,70-83,2004.
[11] R.Ordonez,Direct adaptive regulation of discrete time nonlinear systems with arbitrary
nonlinearrities by backstepping,in Proc.the 41st CDC, Las Vegas Nevada USA:4288-4293,2002.
[12] G.P.Liu,V.Kadirkamanathan and S.Billings,Predictive Control for Nonlinear Systems Using Neural
Networks,Int JControl,Vol.71,No.6,1119-1132,1998.