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博碩士論文 etd-0713104-153438 詳細資訊
Title page for etd-0713104-153438
論文名稱
Title
針對動態系統中具有非匹配不確定量之順滑模態參考模式適應追蹤控制器設計
Design of Model Reference Adaptive Sliding Mode Tracking Controllers for Mismatched Uncertain Dynamic 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
57
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
2004-06-23
繳交日期
Date of Submission
2004-07-13
關鍵字
Keywords
參考模式、順滑模態、非匹配
model reference, mismatched, sliding
統計
Statistics
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The thesis/dissertation has been browsed 5645 times, has been downloaded 0 times.
中文摘要
本論文基於李亞普諾夫理論 (Lyapunov Theorem),針對動態系統中具有非匹配不確定量和外來干擾的多輸入多輸出動態系統提出一個順滑模態參考模式適應追蹤控制器以解決其追蹤的問題。利用調適機制應用在控制器及順滑面的方法,使得即使受控系統存在著非匹配的干擾,系統的狀態軌跡在進入順滑面時將會漸進穩定。另外,由於引入調適機制的控制策略,控制器將會漸進地去調適未知上界,以致擾動上界的資訊是不需要的。最後,本論文提供一個數值範例及一個實際應用的實驗,以驗證本控制器的可行性。
Abstract
Based on the Lyapunov stability theorem, a model reference adaptive sliding mode control scheme is proposed in this thesis for a class of multi-input multi-output (MIMO) dynamic systems with mismatched model uncertainties and external disturbances in order to solve robust tracking problems. In this method, the adaptive mechanism is employed both in sliding surface function and control effort so that once the dynamics of the controlled system enters the sliding surface, the state trajectories of system can achieve asymptotical stability even if the mismatched perturbations exist. In addition, with an adaptive mechanism embedded in the proposed control scheme, the controller will asymptotically adapt the unknown upper bound of perturbations so that the information of upper bound of perturbations is not required. A numerical example and a practical experiment are given for demonstrating the feasibility of the proposed control scheme.
目次 Table of Contents
Contents
Abstract i
List of Figures iv
Chapter 1 Introduction 1
1.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Brief Sketch of the Contents . . . . . . . . . . . . . . . . . . . 3
Chapter 2 Design of Adaptive Sliding Mode Controllers 5
2.1 System Descriptions and Assumptions . . . . . . . . . . . . . . 5
2.2 Design of Sliding Surface . . . . . . . . . . . . . . . . . . . . . 7
2.3 Stability of the System in the Sliding Mode . . . . . . . . . . . 10
2.4 Design of Tracking Controllers and Analysis of Stability . . . . 15
2.5 Summary and Design Procedure . . . . . . . . . . . . . . . . . 21
Chapter 3 Numerical Example 22
Chapter 4 Application 31
Chapter 5 Conclusions 43
References 45
參考文獻 References
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