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博碩士論文 etd-0623100-125148 詳細資訊
Title page for etd-0623100-125148
論文名稱
Title
非線性非匹配系統之強韌調適順滑控制器之設計
Design of Robust Adaptive Sliding Mode Controllers for Nonlinear Mismatched Systems
系所名稱
Department
畢業學年期
Year, semester
語文別
Language
學位類別
Degree
頁數
Number of pages
52
研究生
Author
指導教授
Advisor
召集委員
Convenor
口試委員
Advisory Committee
口試日期
Date of Exam
2000-06-09
繳交日期
Date of Submission
2000-06-23
關鍵字
Keywords
強韌追蹤,順滑模式,擾動估測
perturbation estimation, robust tracking, sliding mode
統計
Statistics
本論文已被瀏覽 5658 次,被下載 1754
The thesis/dissertation has been browsed 5658 times, has been downloaded 1754 times.
中文摘要
摘要



本論文針對非線性非匹配系統提出一種強韌可調適順滑控制器。首先利用擾動估測器來估測追蹤誤差微分值,進而建構誤差動態方程式使得順滑面可實現。然後利用李亞普諾夫穩定準則來設計控制器。在控制器中所含之調適控制是利用適應控制技術自動設定,因此擾動估測誤差的上界值並不需要知道。本論文也提供了一個改進的一階導數估測器,以便用來進行擾動估測。控制器之控制精準度可藉由調整設計參數值來達成,整個控制系統的穩定度亦能給與保證。
最後,本論文提供一個數值範例以驗證本控制器之可行性。

Abstract
Abstract
A simple design methodology of robust adaptive sliding m de utput
tracking controllers for a class of MIMO nonlinear mismatched perturbed
systems is presented in this thesis.First,the derivatives of tracking error
目次 Table of Contents
Contents
Abstract i
List of Figures iv
Chapter 1 Introduction 1
1.1 Mtivatin............................1
1.2 BriefSketch ftheCntents..................4
Chapter 2 Design of Robust Output Tracking Controllers 5
2.1 SystemDescriptinsandPrblemFrmulatins .......5
2.2 Estimation f ∆p i,n i .......................8
2.3 Estimation f the dynamics of output tracking error .....11
2.4 Design fslidingsurfaceandcntrller............12
2.5 Estimation f ∆p i ........................15
2.6 Design f adaptive derivative estimator using integral vari-
ablestructure(AIVS)......................16
2.7 Summary fthedesignprcedure...............21
Chapter 3System 孍 stability and tracking precision 243.1 Stability f system .......................24
3.2 Imprvement ftrackingprecisin...............27
Chapter 4 Examples and Simulations 31
Chapter 6 Conclusions 47
References 48

參考文獻 References
Bibliography
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