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Design of Robust Tracking Controller with Application to Robot Manipulator

Based on the Lyapunov stability theorem, two adaptive variable structure control (AVSC) schemes with perturbation estimation are proposed in this thesis for two different classes of nonlinear systems with model uncertainties and external disturbance, so that the robust tracking problems can be solved. The class of systems firstly considered is the one which has square input matrix gain, the other is the one which has non-square input matrix and an output function. All systems considered contain perturbation in the input matrix gain. By introducing a perturbation estimation process embedded in both proposed control schemes, not only the perturbation can be estimated, but also the control energy can be reduced. In addition, the proposed control schemes also contain an adaptive mechanism in order to automatically adapt the unknown upper bound of perturbation estimation error, so that the property of uniformly ultimate boundedness for the closed-loop system is guaranteed. Finally, four numerical examples are presented to demonstrate the feasibility of the proposed control schemes.

Identiferoai:union.ndltd.org:NSYSU/oai:NSYSU:etd-0707103-163009
Date07 July 2003
CreatorsShih, Fang-Che
ContributorsJ. W. Cheng, C. C. Cheng, C. C. Cheng
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-0707103-163009
Rightsnot_available, Copyright information available at source archive

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