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Design of Decentralized Adaptive Backstepping Tracking Controllers for Large-Scale Uncertain Systems

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.

Identiferoai:union.ndltd.org:NSYSU/oai:NSYSU:etd-0201112-142633
Date01 February 2012
CreatorsChang, Yu-Yi
ContributorsChih-Chiang Cheng, Li Lee, 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-0201112-142633
Rightsuser_define, Copyright information available at source archive

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