Design of Adaptive Block Backstepping Controllers for Perturbed Nonlinear Systems with Input Nonlinearities

• Main Authors: Chia-Wei Chien, 簡家葦
• Other Authors: Chih-Chiang Cheng
• Format: Others
• Language: en_US
• Published: 2012
• Online Access: http://ndltd.ncl.edu.tw/handle/76020394238383876608

碩士 === 國立中山大學 === 電機工程學系研究所 === 100 === Based on the Lyapunov stability theorem, a design methodology of adaptive block backstepping control scheme is proposed in this thesis for a class of multi-input perturbed nonlinear systems with input nonlinearities to solve regulation problems. Fuzzy control method is utilized to estimate the unknown inverse input functions in order to facilitate the design of the proposed control scheme, so that the sector condition need not to be satisfied. According to the number of block m in the plant to be controlled, m−1 virtual input controllers are designed from the first block to the (m−1)th block. Then the proposed robust controller is designed from the last block. Adaptive mechanisms are also employed in the virtual input controllers as well as the robust controller, so that the least upper bounds of perturbations and estimation errors of inverse input functions are not required. The resultant control system is able to achieve asymptotic stability. Finally, a numerical example and a practical example are given for demonstrating the feasibility of the proposed control scheme.