Based on the Lypunov stability theorem, a design methodology of adaptive backstepping control is proposed in this thesis for a class of multi-input systems with matched and mismatched perturbations to solve regulation problems. The systems to be controlled contain blocks¡¦ dynamic equations, hence virtual input controllers are firstly designed so that the state variables of first blocks are asymptotically stable if each virtual control input is equal to the state variable of next block. The control input is designed in the last block to ensure asymptotic stability for each state even if the perturbations exist. In addition, adaptive mechanisms are embedded in each virtual input function and control input, so that the upper bound of perturbations is not required to be known beforehand. Finally, a numerical example and a practical application are given for demonstrating the feasibility of the proposed control scheme.
^¤åºKn(keyword)¡Gadaptive block backstepping controller, mismatched parameter uncertainty, virtual input controller, Lyapunov stability .
| Identifer | oai:union.ndltd.org:NSYSU/oai:NSYSU:etd-0205110-182428 |
| Date | 05 February 2010 |
| Creators | Ou, Yi-hung |
| Contributors | Yuan-Liang Hsu, Chih-Chiang Cheng, Shiang-Hwua Yu |
| Publisher | NSYSU |
| Source Sets | NSYSU Electronic Thesis and Dissertation Archive |
| Language | English |
| Detected Language | English |
| Type | text |
| Format | application/pdf |
| Source | http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0205110-182428 |
| Rights | not_available, Copyright information available at source archive |
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