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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 |
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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 |
52 |
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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 |
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 |
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統計 Statistics |
本論文已被瀏覽 5658 次,被下載 1754 次 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 [1 ]Hung,J.Y.,Gao,W.and Hung,J.C.(1993)Variable Structure Con- trol:A Survey,IEEE Transactions on Industrial Electronics Vol.40, No.1,pp.2 ?2. [2 ]Drazenovic,B.(1969)The invariance conditions in variable structure systems,Automatica Vol.5,No.3,pp.287 ?95. [3 ]Yeung,K.S.,Cheng,C.C.and Kwan,C.M.(1993)A unifying de- sign of sliding m de and classical controllers,IEEE Transactions on Automatic Control Vol.38,No.9,pp.1422 ?427. [4 ]Verghese,G.C.,B.Fernandez R.and Hedrick,J.K.(1988)Stable, robust tracking by sliding m de control,Systems and Control Letter V l.10,pp.27 ?4. [5 ]Chen,Y.C.,Lin,P.L.and Chang,S.(1992)Design of output tracking via variable structure system:for plants with redundant inputs,IEE Proceeding-D Vol.139,No.4,pp.421 ?28. [6 ]˙Zak,S.H.,and Hui,S.(1993)On variable structure utput feedback controllers for uncertain dynamic systems,IEEE Transactions on Au-tomatic Control Vol.38,No.10,pp.1509 ?512. [7 ]Elmali,H.and Olgac,N.(1992)Sliding m de control with perturbation estimation (SMCPE):a new approach,Internation Journal of Control V l.56,No.4,pp.923 ?41. [8 ]Elmali,H.and Olgac,N.(1996)Satellite attitude control via sliding mode with perturbation estimation,IEE Proceeding-Control Theory and Application Vol.143,No.3,pp.276 ?82. [9 ]Slotine,J.J.and Sastry,S.S.(1983)Tracking control f nonlinear systems using sliding surfaces,with application t robot manipulators, International Journal of Control Vol.38,No.2,pp.465 ?92. [10 ]Walcott,B.L.and ˙Zak,S.H.(1988)Combined observer-controller syn- thesis for uncertain dynamical systems with applications,IEEE Trans-actions on Systems, Man and Cybernetics Vol.18,No.1,pp.88 ?04. [11 ]Y ung,K.D.,Utkin,V.T.and |
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