Based on the Lyapunov stability theorem, two design methodologies of adaptive block backstepping controller is proposed in this thesis for a class of multi-input systems with matched and mismatched perturbations to solve regulation problems. The main difference between these two method is that perturbation estimations are only employed in each virtual control input in the second method, whereas in the first method, the perturbation estimation is only employed in the last block. According to the number of block (m) in the dynamic equations of plant to be controlled, m-1 virtual input controllers are designed from the first block to the (m-1)th block, and the proposed robust controller is designed from the last block. Adaptive mechanisms are employed in each of the virtual input controllers as well as the robust controller, so that the least upper bounds of perturbations and perturbation estimation errors are not required. Furthermore, the dynamic equations of the plant do not need to satisfy the block strict feedback form, and the resultant control system can achieve asymptotic stability or uniformly ultimately boundedness. Finally, a numerical example and a practical example are given for demonstrating the feasibility of the proposed control schemes.

Based on the Lyapunov stability theorem, a decentralized adaptive backstepping tracking control scheme for a class of perturbed large-scale systems with non-strict feedback form is presented in this thesis to solve tracking problems. First of all, the dynamic equations of the plant to be controlled are transformed into other equations with semi-strict feedback form. Then a decentralized tracking controller is designed based on the backstepping control methodology so that the outputs of controlled system are capable of tracking the desired signals generated from a reference model. In addition, by utilizing adaptive mechanisms embedded in the backstepping controller, one need not acquire the upper bounds of the perturbations and the interconnections in advance. The resultant control scheme is able to guarantee the stability of the whole large-scale systems, and the tracking precision may be adjusted through the design parameters. Finally, one numerical and one practical examples are demonstrated for showing the applicability of the proposed design technique.

Made available in DSpace on 2015-03-03T15:07:31Z (GMT). No. of bitstreams: 1 KuriosIPMQ.pdf: 875895 bytes, checksum: e5d1081ef123fc325214ccd9a2fee411 (MD5) Previous issue date: 2008-11-20 / Neste trabalho, um controlador adaptativo backstepping a estrutura vari?vel (Variable Structure Adaptive Backstepping Controller, VS-ABC) ? apresentado para plantas monovari?veis, lineares e invariantes no tempo com grau relativo unit?rio. Ao inv?s das tradicionais leis integrais para estima??o dos par?metros da planta, leis chaveadas s?o utilizadas com o objetivo de aumentar a robustez em rela??o a incertezas param?tricas e dist?rbios externos, bem como melhorar o desempenho transit?rio do sistema. Adicionalmente, o projeto do novo controlador ? mais intuitivo quando comparado ao controlador backstepping original, uma vez que os rel?s introduzidos apresentam amplitudes diretamente relacionadas com os par?metros nominais da planta. Esta nova abordagem, com uso de estrutura vari?vel, tamb?m reduz a complexidade das implementa??es pr?ticas, motivando a utiliza??o de componentes industriais, tais como, FPGAs (Field Programmable Gate Arrays ), MCUs (Microcontrollers) e DSPs (Digital Signal Processors). Simula??es preliminares para um sistema inst?vel de primeira e segunda ordem s?o apresentadas de modo a corroborar os estudos. Um dos exemplos de Rohrs ? ainda abordado atrav?s de simula??es, para os dois cen?rios adaptativos: o controlador backstepping adaptativo original e o VS-ABC