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論文名稱 Title |
針對含有非匹配干擾系統之適應性區塊步階迴歸控制器設計 Design of Adaptive Block Backstepping Controllers for Systems with Mismatched Perturbations |
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系所名稱 Department |
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畢業學年期 Year, semester |
語文別 Language |
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學位類別 Degree |
頁數 Number of pages |
82 |
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研究生 Author |
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指導教授 Advisor |
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召集委員 Convenor |
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口試委員 Advisory Committee |
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口試日期 Date of Exam |
2009-01-12 |
繳交日期 Date of Submission |
2009-01-17 |
關鍵字 Keywords |
虛擬輸入控制器、非匹配雜訊、適應性區塊步階迴歸控制器 virtual input controller, mismatched perturbations, adaptive block backstepping controller |
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統計 Statistics |
本論文已被瀏覽 5634 次,被下載 0 次 The thesis/dissertation has been browsed 5634 times, has been downloaded 0 times. |
中文摘要 |
基於李亞普諾夫穩定度理論 (Lyapunov Theorem),在本論文中利用適應性步階迴歸技術針對含有非匹配雜訊之多輸入系統設計適應性區塊步階迴歸控制器。在設計的過程中,根據受控體的區塊個數(m個),在前m-1個區塊中,每個區塊分別設計虛擬輸入控制器,最後,在第m個區塊設計強健控制器。在虛擬輸入和強健控制器中,加入適應增益來估測一些未知干擾的上界常數,如此一來,系統之非匹配雜訊的上界資訊即可不必事先知道,而且能獲得漸進穩定的特性。最後,本論文提供一個數值範例及一個實際應用的例子,以驗證本控制器的可行性。 |
Abstract |
Based on the Lyapunov stability theorem, a design methodology of adaptive block backstepping controller is proposed in this thesis for a class of multi-input systems with mismatched perturbations to solve regulation problems. According to the number of block (m) in the plant to be controlled, m-1 virtual input controllers are designed from the first block to the (m-1)th block. Then the proposed robust controller is designed from the last block. Adaptive mechanisms are employed in each of the virtual input controllers as well as the robust controller, so that the knowledge of the least upper bounds of mismatched perturbations is not required. The resultant control system can achieve asymptotic stability. Finally, a numerical example and a practical example are given for demonstrating the feasibility of the proposed control scheme. |
目次 Table of Contents |
Abstract i List of Figures iv Chapter 1 Introduction 1 1.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.2 Brief Sketch of the Contents . . . . . . . . . . . . . . . . . . . 3 Chapter 2 Design of Adaptive Backstepping Controllers 4 2.1 System Descriptions and Problem Formulations . . . . . . . . . 4 2.2 Design of Adaptive Backstepping Controllers . . . . . . . . . . 5 Chapter 3 Numerical examples and Simulations 24 3.1 Numerical Example . . . . . . . . . . . . . . . . . . . . . . . . 24 3.2 Practical Application . . . . . . . . . . . . . . . . . . . . . . . 26 Chapter 4 Conclusions 51 References 51 Appendix A 56 Appendix B 58 Appendix C 60 Appendix D 64 Appendix E 66 Appendix F 69 |
參考文獻 References |
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