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研究生:吳小郎
研究生(外文):Hsiao-Lang Wu
論文名稱:弱極小相位非線性不確定系統之適應被動化與控制
論文名稱(外文):Adaptive Passivation and Control of Weakly Minimum-Phase noninear Uncertain Systems
指導教授:蔡清池
學位類別:碩士
校院名稱:國立中興大學
系所名稱:電機工程學系所
學門:工程學門
學類:電資工程學類
論文種類:學術論文
畢業學年度:96
語文別:英文
論文頁數:101
中文關鍵詞:適應性被動化弱極小相位非線性不確定系統
外文關鍵詞:Adaptive PassivationWeakly Minimum-Phase noninear Uncertain Systems
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許多年來被動特性與其應用已被廣泛的研究與持續性的改進。本篇論文提出結合適應性與強健性的方法學來達成弱極小相位非線性不確定系統之被動化與控制,只要系統具有affine或者是relative degree 1之特性。充分條件與狀態調整器被建立來展現系統可以成為被動性。如果系統不確定量是有界,許多基於被動性等義回授之強健性控制方法被提出來穩定兩類非線性不確定系統。如果系統不確定量是未知但固定,適應被動性控制方法被發展來達成適應性穩定與干擾消除。所提出方法之特別優點與效能可藉由許多範例來檢驗。本篇論文所發展出來之方法可能引起從事非線性被動控制與應用之專業人士的興趣。
Passivity and its applications have been widely investigated and continuously improved for many years. This thesis presents adaptive and robust methodologies for passivation and control of a class of weakly minimum-phase nonlinear uncertain systems, which are either of nonlinear affine or of relative degree 1. Sufficient conditions and state regulations are established for showing the systems to be passive. Many robust passivity-based control (PBC) methods based on passivity feedback equivalence are proposed for stabilizing the two types of nonlinear uncertain systems if the uncertainties are bounded. If the uncertainties are unknown but constant, adaptive passivity-based control (PBC) methods are developed to achieve adaptive stabilization and disturbance attenuation. The merit and performance of the proposed methods are exemplified by conducting several simulations. The developed techniques may be of interest to professionals working in the field of nonlinear passive control and its applications.
Contents

Chinese Abstract………………………………………… i
English Abstract……….…………………………………. ii
Contents…………………………………………………… iii
List of Figures…………………………………………………. v
Chapter 1 Introduction
1.1 Background………………………………. 1
1.2 Literature Review……………………… 5
1.3 Motivations and Objectives………… 6
1.4 Main Contributions……………………. 7
1.5 Thesis Organization………………… 7

Chapter 2 Adaptive Feedback Equivalence : Passivation
2.1 Introduction……………………………. 9
2.2 Adaptive Passivation for Affine Nonlinear
Uncertain systems……………………… 9
2.3 Adaptive Passivation for Nonaffine Nonlinear
Uncertain Systems ………………………….. 15
2.4 Adaptive Passivation for Nonlinear Uncertain
systems with Relative Degree {1,1…1}…… 21
2.5 Illustrative Examples…………………… 27
2.6 Concluding Remarks……………………… 37

Chapter 3 Robust Passivity-Based Control
3.1 Introduction……………………………. 38
3.2 Robust PBC for Affine Nonlinear Uncertain
systems………………...... 39
3.3 Robust PBC for Nonlinear Uncertain Systems
with Relative Degree {1,1…1}……..…….. 43
3.4 Demonstrative Examples……………………… 48
3.5 Concluding Remarks…………………………... 60

Chapter 4 Adaptive Passivity-Based Control and Disturbance
Attenuation
4.1 Introduction………………………………. 61
4.2 Adaptive PBC and Disturbance Attenuation
for Affine Nonlinear Uncertain
systems…………………...…………………… 62
4.3 Adaptive PBC and Disturbance Attenuation
of Nonlinear Uncertain Systems with Relative
Degree {1,1…1}……………………………. 70
4.4 Numerical Examples ….………………………. 77
4.5 Concluding Remarks……………………………. 94

Chapter 5 Conclusions and future work
5.1 Conclusions……………………………………. 95
5.2 Future Work……………………………………. 96

References…………………………………………………..….. 97
References

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