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Design of Adaptive Block Backstepping Controllers for Nonlinear Systems with Non-strict Feedback Form

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.

Identiferoai:union.ndltd.org:NSYSU/oai:NSYSU:etd-1109110-115504
Date09 November 2010
CreatorsChien, An-fu
ContributorsLi Lee, Chih-Chiang Cheng, Chung-Yao Kao
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-1109110-115504
Rightsnot_available, Copyright information available at source archive

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