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Design of Model Reference Adaptive Tracking Controllers for Mismatch Perturbed Nonlinear Systems with Nonlinear Inputs

A simple design methodology of optimal model reference adaptive control (OMRAC) scheme with perturbation estimation for solving robust tracking problems is proposed in this thesis. The plant to be controlled belongs to a class of MIMO perturbed dynamic systems with input nonlinearity and time varying delay. The proposed robust tracking controller with a perturbation estimation scheme embedded is designed by using Lyapunov stability theorem. The control scheme contains three types of controllers. The first one is a linear feedback optimal controller, which is designed under the condition that no perturbation exists. The second one is an adaptive controller, it is used for adapting the unknown upper bound of perturbation estimation error. The third one is the perturbation estimation mechanism. The property of uniformly ultimately boundness is proved under the proposed control scheme, and the effects of each design parameter on the dynamic performance is also analyzed. An example is demonstrated for showing the feasibility of the proposed control scheme.

Identiferoai:union.ndltd.org:NSYSU/oai:NSYSU:etd-0503104-181744
Date03 May 2004
CreatorsSu, Tai-Ming
ContributorsChih-Chiang Cheng, Li Lee, Tzuen-Lih Chern
PublisherNSYSU
Source SetsNSYSU Electronic Thesis and Dissertation Archive
LanguageEnglish
Detected LanguageEnglish
Typetext
Formatapplication/pdf
Sourcehttp://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0503104-181744
Rightsnot_available, Copyright information available at source archive

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