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研究生:施峯哲
研究生(外文):Fang-Che Shih
論文名稱:強健追蹤控制器設計應用於機械手臂
論文名稱(外文):Design of Robust Tracking Controller with Application to RobotManipulator
指導教授:鄭志強鄭志強引用關係
指導教授(外文):C. C. Cheng
學位類別:碩士
校院名稱:國立中山大學
系所名稱:電機工程學系研究所
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2003
畢業學年度:91
語文別:英文
論文頁數:70
中文關鍵詞:機械手臂
外文關鍵詞:robotperturbation estimationtrackingsliding modeadaptive control
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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。
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.
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
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