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研究生:林信佑
研究生(外文):Lin, Hsin-Yu
論文名稱:雙質量倒單擺系統之適應性控制
論文名稱(外文):Adaptive Control for Two-Mass Inverted Pendulum System
指導教授:楊榮華楊榮華引用關係
指導教授(外文):Yang, Jung-Hua
學位類別:碩士
校院名稱:國立屏東科技大學
系所名稱:車輛工程系所
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2008
畢業學年度:96
語文別:英文
論文頁數:58
中文關鍵詞:雙質量倒單擺系統李亞普諾夫穩定性適應性控制
外文關鍵詞:Two-Mass Inverted Pendulum SystemLyapunov StabilityAdaptive Control
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此論文提出適應性控制設計,並完成了追蹤和穩定於雙質量倒單擺系統。經由利用李亞普諾夫穩定性分析,所提出的控制器已經有效的被證明。另外,藉由電腦模擬和實驗也驗證控制器之可行性。
In this thesis, the development and implementation of an adaptive control scheme for tracking and stabilization of a two-mass inverted pendulum system has been presented. By utilizing Lyapunov-based stability analysis, the effectiveness of the proposed controller has been demonstrated. In addition, the feasibility of the controller is also demonstrated by computer simulation and experiments.
Contents
摘 要 I
Abstract II
Acknowledgments III
Contents IV
List of Tables VI
List of Figures VII
Nomenclature X
Chapter 1 Introduction 1
1.1 Motivation 1
1.2 Survey of Related Researches 2
1.3 Contribution of the Thesis 4
1.4 Organization of the Thesis 4
Chapter 2 Mathematics Model 5
2.1 Introduction 5
2.2 Derivation of Equations of Motion 5
Chapter 3 Adaptive Controller Design 8
3.1 Introduction 8
3.2 Model Formulation 8
3.3 Controller Design 10
Chapter 4 Simulation Results 15
4.1 PD Controller 15
4.2 Adaptive Controller 17
Chapter 5 Experimental Verification 32
5.1 Instrument Description 32
5.2 Experimental Results 37
Chapter 6 Conclusion 49
References 50
Appendix 56
Bio-Sketch of Author 58
References
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