臺灣博碩士論文加值系統

在本篇論文中，我們先回顧一個無漂移系統的片斷運動規劃演算方法，接著我們提出閉迴路控制的設計，在運動歸劃的演算上閉迴路控制的數學工具發展和前者相同。這個設計控制器是使用常數開關控制信號的方法，這個方法的提出可以將一個非線性無漂移系統的狀態帶到任何我們要求的位置且可以讓它的狀態呈現漸進穩定。

In this thesis, we first review a piecewise motion planning algorithm for driftless nonlinear systems. Then, we propose a closed-loop control design based on the same mathematical tool developed in the motion planning algorithm. The proposed control designs can drive the state of a driftless nonlinear system to any desired position asymptotically, using constantly switching control signals.

1.Introduction1
2.Differential Geometry3
2.1Controllability Concepts3
2.2Differential Geometry4
2.2.1 Lie Bracket concepts4
2.2.2 Formal Exponential concepts5
3.Open-Loop Control Design11
3.1 Nilpotent systems11
3.1.1 Design the fictitious input 11
3.1.2 Calculate the Philip Hall coordinate 12
3.1.3 Design the true control 13
3.2 Non-nilpotent systems18
3.3 Examples20
4.Closed-Loop Control Design23
4.1 Regulation Control24
4.2 Examples28
4.3 Tracking Control30
4.4 Examples33
5.Conclusion36
Reference74

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