ADAPTIVE SLIDING MODE CONTROLLER DESIGN FOR NONLINEAR SYSTEM WITH UNMATCHED UNCERTAINTIES
碩士 === 大同大學 === 電機工程研究所 === 89 === In this thesis, a robust dynamic adaptive controller design algorithm for single-input single-output (SISO) nonlinear systems with unmatched uncertainties is provided. For many practical systems, the unmatched uncertainties are common in control practic...
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ndltd-TW-089TTU004420142015-10-13T12:14:42Z http://ndltd.ncl.edu.tw/handle/04151913284030876291 ADAPTIVE SLIDING MODE CONTROLLER DESIGN FOR NONLINEAR SYSTEM WITH UNMATCHED UNCERTAINTIES 具有未匹配不確定非線性系統之適應滑動模式控制器設計 Guo-Shu Tzeng 曾國書 碩士 大同大學 電機工程研究所 89 In this thesis, a robust dynamic adaptive controller design algorithm for single-input single-output (SISO) nonlinear systems with unmatched uncertainties is provided. For many practical systems, the unmatched uncertainties are common in control practice. Further, sometimes these upper bounds of the uncertainties may not be easily obtained because of the complexity of structure of the uncertainties. Therefore the problem of controlling such systems becomes more complex, more difficult and more practical. We will propose a method to combine sliding mode with adaptation fuzzy law, approximate the upper bounds of the uncertainties. Adaptive control applies the parameter adaptive technique to robustify the parametric uncertainties for nonlinear systems with unknown parametric. They can easily overcome the parametric uncertainties. Some examples and simulation results are provided to illustrate the versatility and performance of the proposed method. Finally, the suggested controller is applied to the controlling of the Inverted pendulum system. Simulation results indicate its efficiency. Chiang-Cheng Chiang 江江盛 2001 學位論文 ; thesis 56 zh-TW |
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碩士 === 大同大學 === 電機工程研究所 === 89 === In this thesis, a robust dynamic adaptive controller design algorithm for single-input single-output (SISO) nonlinear systems with unmatched uncertainties is provided. For many practical systems, the unmatched uncertainties are common in control practice. Further, sometimes these upper bounds of the uncertainties may not be easily obtained because of the complexity of structure of the uncertainties. Therefore the problem of controlling such systems becomes more complex, more difficult and more practical. We will propose a method to combine sliding mode with adaptation fuzzy law, approximate the upper bounds of the uncertainties. Adaptive control applies the parameter adaptive technique to robustify the parametric uncertainties for nonlinear systems with unknown parametric. They can easily overcome the parametric uncertainties. Some examples and simulation results are provided to illustrate the versatility and performance of the proposed method. Finally, the suggested controller is applied to the controlling of the Inverted pendulum system. Simulation results indicate its efficiency.
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Chiang-Cheng Chiang |
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Chiang-Cheng Chiang Guo-Shu Tzeng 曾國書 |
author |
Guo-Shu Tzeng 曾國書 |
spellingShingle |
Guo-Shu Tzeng 曾國書 ADAPTIVE SLIDING MODE CONTROLLER DESIGN FOR NONLINEAR SYSTEM WITH UNMATCHED UNCERTAINTIES |
author_sort |
Guo-Shu Tzeng |
title |
ADAPTIVE SLIDING MODE CONTROLLER DESIGN FOR NONLINEAR SYSTEM WITH UNMATCHED UNCERTAINTIES |
title_short |
ADAPTIVE SLIDING MODE CONTROLLER DESIGN FOR NONLINEAR SYSTEM WITH UNMATCHED UNCERTAINTIES |
title_full |
ADAPTIVE SLIDING MODE CONTROLLER DESIGN FOR NONLINEAR SYSTEM WITH UNMATCHED UNCERTAINTIES |
title_fullStr |
ADAPTIVE SLIDING MODE CONTROLLER DESIGN FOR NONLINEAR SYSTEM WITH UNMATCHED UNCERTAINTIES |
title_full_unstemmed |
ADAPTIVE SLIDING MODE CONTROLLER DESIGN FOR NONLINEAR SYSTEM WITH UNMATCHED UNCERTAINTIES |
title_sort |
adaptive sliding mode controller design for nonlinear system with unmatched uncertainties |
publishDate |
2001 |
url |
http://ndltd.ncl.edu.tw/handle/04151913284030876291 |
work_keys_str_mv |
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