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論文名稱 Title |
針對具有致動器衰退之非線性系統設計適應順滑模態控制器 Design of Adaptive Sliding Mode Controllers for Nonlinear Systems with Actuator Degradation |
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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 |
60 |
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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 |
2018-06-28 |
繳交日期 Date of Submission |
2018-07-09 |
關鍵字 Keywords |
適應控制、順滑模態控制、致動器衰退、非匹配擾動、有限時間收斂 mismatched perturbation, finite time convergence, actuator faults, sliding mode control, adaptive control |
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統計 Statistics |
本論文已被瀏覽 5644 次,被下載 0 次 The thesis/dissertation has been browsed 5644 times, has been downloaded 0 times. |
中文摘要 |
本文針對具有致動器衰退之多輸入非線性系統,提出一種適應順滑模態控制器。首先設計順滑平面,接著再設計相對應的順滑模態控制器。藉由引入適應機制及擾動估測器的架構,進而不需要事先預知擾動及擾動估測誤差的上界。在此控制架構下確實能使狀態在有限時間內到達順滑平面並停留在平衡點上。最後,本論文提供一個數值及一個實際範例來驗證所提出的控制策略其可行性。 |
Abstract |
In this thesis a design methodology of adaptive sliding mode control with consideration of actuator faults is proposed for a class of multi-input nonlinear systems with matched and mismatched perturbations to solve state regulation problems. The sliding surface was introduced first, then the controller which can handle actuator faults was designed. Adaptive and perturbation estimation mechanisms are also embedded in the proposed control scheme, so that there is no need to know the upper bounds of perturbation and perturbation estimation errors beforehand. The proposed fault tolerant control (FTC) scheme is able to drive the controlled states to zero and stay thereafter within a finite time even if the actuator fault occurs. Finally, a numerical example and a practical application are demonstrated using computer simulation for showing the applicability of the proposed FTC scheme. |
目次 Table of Contents |
Contents 論文審定書 ……………………………………………………………………… i 誌謝 …………………………………………………………………………........ii 中文摘要 ………………………………………………………………………… iii Abstract …………………………………………………………………………. iv List of Figures …………………………………………………………............. vii Chapter 1 Introduction 1 1.1 Motivation …………………………………………………………………… 1 1.2 Brief Sketch of the Contents ……………………………………………… 3 Chapter 2 Design of controllers with actuator fault 4 3.1 System Descriptions and Problem Formulations ……………………….. 4 3.2 Design of Sliding Surface …………………………………………………...6 3.3 Design of Controllers ……………………………………………………….. 8 3.4 Stability Analysis ……………………………………………………............ 11 Chapter 3 Computer Simulation and Practical Application 17 4.1 Numerical Example ……………………………………………………….....17 4.2 Practical Application ……………………………………………………....... 20 Chapter 4 Conclusions 40 Bibliography 40 Appendix 48 Appendix A 48 Appendix B 51 |
參考文獻 References |
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