| Summary: | 碩士 === 國立暨南國際大學 === 電機工程學系 === 98 === The problem of the translational oscillator with rotating actuator (TORA) system has been widely discussed and investigated. The TORA system was developed as a simplified model of a dual-spin spacecraft. In this thesis, the nonlinear and adaptive controllers based on backstepping design schemes are developed for the manipulation of the TORA system. The main control objective here is not only to return the cart to the origin, but also to drive the rotating proof mass back to its starting point.
In the procedure of nonlinear backstepping design, the direct analysis of this nonlinear system is complex and difficult for control design. In order to analyze and realize the system properties of the TORA system, in the beginning, the linearized system model is studied and investigated. Furthermore, according to the information obtained from the design of the linearized system, the nonlinear backstepping controllers can be successfully developed to achieve our control objectives for the original system. In addition, the zero dynamics would be investigated to guarantee the stability of the closed-loop system. Next, an adaptive backstepping design scheme is proposed to cope with the unknown spring coefficient and disturbance for the control of this TORA system. With backstepping design schemes, our proposed nonlinear and adaptive controllers are not only to achieve control objectives, but also to possess system robustness. Finally, some simulation results are given to illustrate the excellent performance of the proposed controllers applied to the TORA system.
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