論文使用權限 Thesis access permission:校內公開,校外永不公開 restricted
開放時間 Available:
校內 Campus: 已公開 available
校外 Off-campus:永不公開 not available
論文名稱 Title |
數位可變結構控制器設計
Design of Discrete Variable Structure Controller |
||
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 |
62 |
|
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 |
2001-07-20 |
繳交日期 Date of Submission |
2001-08-01 |
關鍵字 Keywords |
擾動估測、參考模式、可變結構控制 model reference, per, variable structure control |
||
統計 Statistics |
本論文已被瀏覽 5692 次,被下載 33 次 The thesis/dissertation has been browsed 5692 times, has been downloaded 33 times. |
中文摘要 |
本論文針對數位線性及非線性系統提出一種數位可變結構控制器。首先定義一誤差方程式,進而利用誤差方程式建構一順滑面,一旦被控制的系統進到順滑面的附近,系統的響應就能給予保證。然後利用李奧普諾夫穩定準則來設計具有擾動估測的調適控制器。由於調適控制器的使用,因此擾動估測誤差的上界並不需要知道。此控制器的使用可使追蹤誤差被限制在一個小範圍中,整個控制系統的穩定度亦能給予保證。控制器之控制精準度可藉由過去擾動資訊取得的多寡及調整設計參數來達成。 |
Abstract |
A simple technique of designing a robust discrete-time variable structure output tracking controller for a class of perturbed MIMO linear and nonlinear systems is proposed in this thesis. For linear systems, a model reference scheme is employed. Both an adaptive mechanism and a perturbation estimation process are embedded in the proposed control scheme. The information of the upper bound of the perturbation estimation error is not required due to the usage of adaptive mechanism. It is shown that the dynamics of the controlled systems will be driven into the vicinity of the designed switching surface, therefore the tracking error will be constrained in a small bounded region. Furthermore, the stability of the overall controlled system is guaranteed, and one can increase the tracking accuracy by adjusting the controller's parameters or by employing the perturbation estimation process. |
目次 Table of Contents |
Abstract i List of Figures iv Chapter 1 Introduction 1 1.1 Motivation............................ 1 1.2 BriefSketchoftheContents.................. 3 Chapter 2 Discrete-Time Model Reference Variable Struc-ture Control for Linear Systems 4 2.1 SystemDescriptionsandProblemFormulations ....... 4 2.2 SwitchingSurfaceDesign.................... 6 2.3 DesignofControllers...................... 7 2.4 The Estimation of ¢P ..................... 17 Chapter 3 Variable Structure Controller Design for Dis-crete Time Nonlinear Systems 20 3.1 SystemDescriptionsandProblemFormulations ....... 20 3.2 SwitchingSurfaceDesign.................... 21 3.3 DesignofControllers...................... 23 Chapter 4 Examples and Simulations 27 Chapter 5 Conclusions 57 References 57 |
參考文獻 References |
[1] Utkin, V. I. (1977) Variable structure systems with sliding modes. IEEE Trans. Automat. Contr., Vol. 22, No. 2, pp. 212-222. [2] Chern, T. L., Chuang, C. W. and Jiang, R. L. (1996) Design of discrete integral variable structure control systems and application to brushless dc motor control. Automatica, Vol. 32, No. 5, pp. 773-779. [3] Slotine, J. J. and Sastry, S. S. (1983) Tracking control of nonlinear systems using sliding surfaces, with application to robot manipulators, Int. J. of Contr., Vol. 38, No. 2, pp. 465-492. [4] Fu, L. C. and Liao, T. L. (1990) Globally stable robust tracking of nonlinear systems using variable structure control and with an appli-cation to a robotic manipulator, IEEE Trans. Automat. Contr.,Vol.35, No. 12, pp. 1345-1350. [5] Singh, S. N. and Coelho, A. R. (1984) Nonlinear control of mismatched uncertain linear systems and application to control of aircraft, Journal of Dynamic Systems, Measurement, and Control, Vol. 106, pp. 203-210, September. [6] Sarpturk, S. Z., Istefanopulos, Y. and Kaynak, O. (1987) On the sta-bility of disctete-time sliding mode control systems. IEEE Trans. Au-tomat. Contr., Vol. 32, No. 10, pp. 930-932. [7] Furuta, K. (1990) Sliding mode control of a discrete system. Syst. Con-trol Lett., Vol. 14, pp. 145-152. [8] Chan, C. Y. (1991) Servo-systems with discrete-variable structure con-trol. Syst. Control Lett., Vol. 17, pp. 321-325. [9] Chan, C. Y. (1995) Robust Discrete Quasi-sliding Mode Tracking Con-troller. Automatica, Vol. 31, No. 10, pp. 1509-1511. [10]Chan, C. Y. (1997) Discrete Adaptive Sliding-mode Tracking Con-troller. Automatica, Vol. 33, No. 5, pp. 999-1002. [11]Gao, W., Wang. Y. and Homaifa, A. (1995) Discrete-Time Variable Structure Control Systems. IEEE Trans. Ind. Electronics, Vol. 42, No. 2, pp. 117-122. [12]Park, K. B. (2000) Discrete-time sliding mode controller for linear time-varying systems with uncertainty. IEE 2000 Electronics Letters, Vol. 36, No. 25, pp. 2111-2112. [13]Corradini, M. L. and Orlando, G. (1998) Variable Structure Control of Discretized Continuous-Time Systems. IEEE Trans. Automat. Contr., Vol. 43, No. 9, pp. 1329-1334. [14]Pieper, J. K. and Surgenor, B. W. (1994) Discrete time sliding mode control applied to a gantry crane. Proc. of the 33rd conference on de-cision and control, pp. 829-834. [15]Spurgeon, S. K. (1992) Hyperplane design techniques for discrete-time variable structure control systems. Int. J. of Contr.,Vol.55,No.2, pp. 445-456. [16]Fujisaki, Y. Togawa, K. and Hirai, K. (1994) Sliding mode control for multi-input discrete time systems. Proc. of the 33rd conference on decision and control, pp. 1933-1935. [17]Elmali, H. and Olgac, N. (1992) Sliding mode control with perturba-tions estimation (SMCPE): a new approach. Int. J. of Contr.,Vol.56, No. 4, pp. 923-941. [18]Cheng, C. C., Lin, M. H. and Hsiao, J. M. (2000) Sliding mode con-trollers design for linear discrete-time systems with matching pertur-bations. Automatica, Vol. 36, No. 8, pp. 1205-1211. [19]Chen, X-K. and Fukuda, T. (1998) Robust adaptive quasi-sliding mode controller for discrete-time systems. Syst. and Contr. Lett.,Vol.35, pp. 165-173. [20]Chen, X-K. and Fukuda, T. (1999) Adaptive Quasi-Sliding Mode Con-trol for Discrete-Time Multivariable Systems. Int. J. of Contr.,Vol.72, No. 2, pp. 133-140. [21]Bartolini, G., Ferrara, A. and Utkin, V. I. (1992) Design of discrete-time adaptive sliding mode control. Proceedings of the 31st IEEE Con-ference on Decision and Control, Vol. 2, pp. 2387-2391. [22]Bartolini, G., Ferrara, A. and Utkin, V. I. (1995) Adaptive Sliding Mode Control in Discrete-Time-Systems. Automatica, Vol. 31, No. 5, pp. 769-773. [23]Chan, C. Y. (1997) Discrete-Time Adaptive Sliding Mode Control of a Linear-System in State-Space Form. Int. J. of Contr.,Vol.67,No.6, pp. 859-868. [24]Chan, C. Y. (1999) Discrete Adaptive Quasi-Sliding Mode Control. Int. J. of Contr., Vol. 72, No. 4, pp. 365-373. [25]Sira-Ramirez, H. (1991) Non-linear discrete variable structure systems in quasi-sliding mode. Int. J. of Contr., Vol. 54, No. 5, pp. 1171-1187. [26]Cheng, C. C. and Chu, Y. C. (2000) Design of discrete quasi-sliding mode controllers with perturbation estimation. Proceedings of the American Control Conference, Vol. 1, pp. 621-625. [27]Hopp, H., and Schmitendorf, W. E., (1990) Design of A Linear Con-troller for Robust Tracking and Model Following. Journal of Dynamic Systems, Measurement, and Control, Vol. 112, No. 4, pp. 552-558. [28]Shyu, K. K., and Liu, C. Y., (1997) Variable Structure Controller De-sign for Robust Tracking and Model Following. Journal of Guidance, Vol. 19, No. 6, pp. 1395-1397. [29]Khalil, H. K. (1996) Nonlinear systems, 2nd edition, Prentice-Hall In- ternational,Inc. |
電子全文 Fulltext |
本電子全文僅授權使用者為學術研究之目的,進行個人非營利性質之檢索、閱讀、列印。請遵守中華民國著作權法之相關規定,切勿任意重製、散佈、改作、轉貼、播送,以免觸法。 論文使用權限 Thesis access permission:校內公開,校外永不公開 restricted 開放時間 Available: 校內 Campus: 已公開 available 校外 Off-campus:永不公開 not available 您的 IP(校外) 位址是 3.139.82.77 論文開放下載的時間是 校外不公開 Your IP address is 3.139.82.77 This thesis will be available to you on Indicate off-campus access is not available. |
紙本論文 Printed copies |
紙本論文的公開資訊在102學年度以後相對較為完整。如果需要查詢101學年度以前的紙本論文公開資訊,請聯繫圖資處紙本論文服務櫃台。如有不便之處敬請見諒。 開放時間 available 已公開 available |
QR Code |