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博碩士論文 etd-0630118-161321 詳細資訊
Title page for etd-0630118-161321
論文名稱
Title
針對具有輸入飽和受限之非線性系統設計適應性區塊步階回歸追蹤控制器
Design of Adaptive Block Backstepping Tracking Controllers for Nonlinear Systems with Input Constraints
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
72
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
2018-06-28
繳交日期
Date of Submission
2018-08-06
關鍵字
Keywords
輸入受限、適應步階回歸控制、虛擬輸入、擾動估測器、不匹配擾動
adaptive backstepping control, input constraints, perturbation estimator, mismatched perturbations, virtual input
統計
Statistics
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中文摘要
基於李亞普諾夫穩定度理論,本文針對具有輸入約束的擾動多輸入非線性系統,提出了一種有擾動估測器的自適應區塊步階回歸控制設計方法。 首先介紹系統每個區塊的虛擬輸入,接著是控制輸入的設計。 在設計過程中利用擾動估計器和自適應機制,因此不僅不需要計算虛擬輸入函數的微分,而且事先不需要知道擾動的上界以及擾動估計誤差。 此外所得到的控制方案確保了整個受控系統的穩定性,並且可以通過調整參數來調整追蹤的精準度。 最後本論文提供一個數值範例和實際應用,證明所提出控制器的可行性。
Abstract
Based on the Lyapunov stability theorem, a design methodology of adaptive block backstepping control with perturbation estimation scheme is proposed in this thesis for a class of a perturbed multi-input nonlinear systems with input constraints. The virtual inputs of each block of the plant to be controlled is firstly introduced, then followed by the design of control inputs. Perturbation estimator and adaptive mechanisms are employed in the proposed control scheme, so that not only the derivatives of virtual input functions do not need to be computed, but also the upper bounds of perturbations as well as perturbation estimation errors are not required to be known in advance. Furthermore, the resultant control scheme guarantees the stability of the whole controlled systems, and the tracking precision can be adjusted by tuning the design parameters. One numerical example and a practical application are illustrated for demonstrating the feasibility of the proposed control 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 the Backstepping Controllers with Input Constraint 4
2.1 System Descriptions and Problem Formulations ……………………………… 4
2.2 Design of Virtual Input ……………………………………………………………… 8
2.3 Design of Controllers and Analysis of stability ………………………………… 23
Chapter 3 Computer Simulations and Practical Application 34
3.1 Numerical Example ……………………………………………………………………………34
3.2 Practical Example ……………………………………………………………………………………37
Chapter 4 Conclusions 52
Bibliography 53
Appendix 60
Appendix A 60
Appendix B 62
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