Based on the Lyapunov stability theorem, an optimal model reference adaptive control (OMRAC) scheme with perturbation estimation is presented in this thesis to solve robust tracking problems. The plant considered belongs to a class of MIMO perturbed dynamic systems with input nonlinearity and time varying delay in the state. The proposed control scheme contains three types of controllers. The first one is a linear feedback controller, which is an optimal controller if there is no perturbation. The second one is an adaptive controller, it is used for adapting the unknown upper bound of perturbation estimation error. The last 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 analyzed. Two numerical examples are given for demonstrating the feasibility of the proposed methodology.
| Identifer | oai:union.ndltd.org:NSYSU/oai:NSYSU:etd-0717102-151128 |
| Date | 17 July 2002 |
| Creators | Chang, Chao-Chin |
| Contributors | none, none, none, Chih-Chiang Cheng |
| 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-0717102-151128 |
| Rights | campus_withheld, Copyright information available at source archive |
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