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論文名稱 Title |
強健追蹤控制器設計應用於機械手臂
Design of Robust Tracking Controller with Application to Robot Manipulator |
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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 |
70 |
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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 |
2003-06-27 |
繳交日期 Date of Submission |
2003-07-07 |
關鍵字 Keywords |
機械手臂 robot, perturbation estimation, tracking, sliding mode, adaptive control |
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統計 Statistics |
本論文已被瀏覽 5694 次,被下載 0 次 The thesis/dissertation has been browsed 5694 times, has been downloaded 0 times. |
中文摘要 |
基於李亞普諾夫理論(Lyapunov Theorem),本論文針對兩類含有輸入增益矩陣的非線性系統,提出兩個具有擾動估測器(Perturbation estimation)的調適可變結構控制器(AVSC)來解決其強韌追蹤問題。第一類系統具有方陣輸入增益,另一類則具有非方陣輸入增益及輸出函數。針對系統所遭受的不確定量,藉由上述控制器中所隱含的擾動估測器,不僅可以估測擾動與追蹤誤差,而且可以降低控制輸入函數。另外此控制器同時具有調適控制機制,可以用來調適擾動估測誤差的未知上界。本控制器可保證閉迴路系統的uniformly ultimate boundedness 特性。最後,針對本論文所提出的控制器設計法則,以四個數值範例來說明其可行性。 |
Abstract |
Based on the Lyapunov stability theorem, two adaptive variable structure control (AVSC) schemes with perturbation estimation are proposed in this thesis for two different classes of nonlinear systems with model uncertainties and external disturbance, so that the robust tracking problems can be solved. The class of systems firstly considered is the one which has square input matrix gain, the other is the one which has non-square input matrix and an output function. All systems considered contain perturbation in the input matrix gain. By introducing a perturbation estimation process embedded in both proposed control schemes, not only the perturbation can be estimated, but also the control energy can be reduced. In addition, the proposed control schemes also contain an adaptive mechanism in order to automatically adapt the unknown upper bound of perturbation estimation error, so that the property of uniformly ultimate boundedness for the closed-loop system is guaranteed. Finally, four numerical examples are presented to demonstrate the feasibility of the proposed control schemes. |
目次 Table of Contents |
中文摘要 Abstract Chapter 1 Introduction Chapter 2 Controller Design for the Case of Square Input Matrix Chapter 3 Controller Design for the Case of Non-square Input Matrix Chapter 4 Simulations Chapter 5 Conclusions References |
參考文獻 References |
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