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論文名稱 Title |
針對不確定動態系統之參考模式調適追蹤控制器設計 Design of model reference adaptive tracking controllers for uncertain dynamic 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 |
54 |
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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 |
參考模式、適應控制、追蹤控制 tracking control, model reference, adaptive control |
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統計 Statistics |
本論文已被瀏覽 5698 次,被下載 1750 次 The thesis/dissertation has been browsed 5698 times, has been downloaded 1750 times. |
中文摘要 |
於李爾普諾夫理論的基礎下,本論文為解決強韌追蹤的問題提出兩種不同種類的控制器。第一個為參考模式調適順滑模式控制,其針對相對階數為一且分別在輸入端及輸出端含有相加性和相乘性的未建構不確定項之單輸入單輸出線性非時變系統進行設計。藉由在上述控制器中引入擾動估測器,因為只有擾動估測誤差需要被克服,所以切換現象可以被有效降低。第二個是最佳參考模式調適控制器,其針對具有輸入非線性之多輸入系統進行設計。且這些系統含有模組不確定項及時變延遲。 |
Abstract |
Based on Lyapunov theorem, two different types of control schemes for solving robust tracking problems are presented in this thesis. The first one is model reference adaptive sliding mode control, which is designed for a class of SISO LTI systems with relative degree one possessing additive and multiplicative unstructured uncertainties in the input and output channels. By introducing a perturbation estimation process embedded in the proposed control scheme, the chattering phenomenon can be reduced effectively since only the perturbation estimation error needs to be overcomed. The second one is optimal model reference adaptive control, which is designed for a class of multi-input systems with input non-linearity. These systems are subject to model uncertainties and time-varying delay. |
目次 Table of Contents |
Contents Abstract i List of Figures iv Chapter 1 Introduction 1 1.1 Moivaion............................1 1.2 BriefSkechof heConens..................4 Chapter 2 MRASMC with Perturbation Estimation 5 2.1 SysemDescripionsandProblemFormulaions .......5 2.2 DesignofPerurbaionEsimaor...............9 2.3 Design of Controller and Analysis of Stability ........15 2.4 SummaryofDesignProcedure.................20 Chapter 3 Optimal Model Reference Adaptive Control 23 3.1 SysemDescripionsandProblemFormulaions .......23 3.2 OpimalConrolDesignforheNominalSysems ......27 3.3 Design of Robust Model Reference Adaptive Control Scheme 30 Chapter 4 Simulations 35 Chapter 5 Conclusions 48 References 50 |
參考文獻 References |
[1 ]K.J.Astrom and B.Wittenmark,Adaptive Control ,Second edition, Addison-Wesley Publishing Company,1995. [2 ]K.S.Narendra and A.M.Annaswamy,Stable Adaptive Systems , Prentice-Hall,Englewood Cli ffs,NJ,1989. [3 ]S.Sastry and M.Bodson,Adaptive Control:Stability,Convergence and Robustness ,Prentice-Hall,Englewood Cli ffs,NJ,1989. [4 ]A.Datta and P.A.Ioannou, |
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