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研究生:黃濠正
研究生(外文):Hao-Cheng Huang
論文名稱:一群非線性系統之同時控制
論文名稱(外文):Simultaneous Control for a Collection of Nonlinear Systems
指導教授:吳政郎
指導教授(外文):Jenq-Lang Wu
學位類別:碩士
校院名稱:國立臺灣海洋大學
系所名稱:電機工程學系
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:2009
畢業學年度:97
語文別:中文
論文頁數:56
中文關鍵詞:同時穩定狀態回授非線性系統
外文關鍵詞:Simultaneous StabilizationState FeedbackNonlinear SystemsControl Lyapunov Function
相關次數:
  • 被引用被引用:2
  • 點閱點閱:100
  • 評分評分:
  • 下載下載:9
  • 收藏至我的研究室書目清單書目收藏:0
本論文的研究主題是針對一群具有某些特殊結構的非線性系統,設計一個狀態回授控制器讓這群非線性系統能夠同時(強健)穩定或同時達成 控制要求。我們首先考慮系統的特殊結構,各系統共同的控制李亞普諾夫函數(control Lyapunov function,CLF)可以解李亞普諾夫(Lyapunov)方程式得到,根據所得共同的控制李亞普諾夫函數(CLF),可以有系統的建構出同時穩定控制器。接著,我們探討一群含有不確定項的非線性系統,解李卡迪(Riccati)方程式可得其強健控制李亞普諾夫函數(robust control Lyapunov function,RCLF),並據以找出同時強健穩定控制器。最後,我們探討一群具有雜訊輸入的非線性系統,解李卡迪(Riccati)不等式得到其控制儲存函數(control storage function, CSF),並據以建構出同時 控制器,保證全部系統均內部穩定,且滿足 增益的要求。我們將提供數個例子以驗證所得理論。
摘要.......................................................i
Abstract..................................................ii
目錄.....................................................iii
圖目錄.....................................................v
第一章 緒論................................................1
1.1 研究動機與論文回顧....................................1
1.2 問題陳述..............................................4
1.3 論文架構..............................................5
第二章 數學基礎與相關定理..................................7
2.1 控制李亞普諾夫函數(CLF)的概念.........................7
2.2 強健控制李亞普諾夫函數(RCLF)的概念....................9
2.3 控制儲存函數(CSF)的概念..............................10
2.4 數學基礎與輔助定理...................................12
第三章 一群非線性系統之同時穩定...........................16
3.1 控制李亞普諾夫函數(CLF)之求法-利用李亞普諾夫(Lyapunov) 方程式................................................16
3.2 一群非線性系統之同時穩定-控制器設計..................19
3.3 模擬結果.............................................21
第四章 一群含有不確定項的非線性系統之同時強健穩定.........26
4.1 強健控制李亞普諾夫函數(RCLF)之求法-利用李卡迪(Riccati)
方程式...............................................26
4.2 一群含有不確定項的非線性系統之同時強健穩定-控制器設計
.....................................................30
4.3 模擬結果.............................................33
第五章 一群具有雜訊干擾的非線性之同時 控制..............38
5.1 控制儲存函數(CSF)之求法-利用李卡迪(Riccati)不等式....38
5.2 一群具有雜訊干擾的非線性之同時 控制-控制器設計.....42
5.3 模擬結果.............................................45
第六章 結論與未來展望.....................................51
6.1 結論.................................................51
6.2 未來展望.............................................51
參考文獻..................................................53
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