碩士 / 國立嘉義大學 / 資訊工程學系研究所 / 100 / This paper studies the output tracking and almost disturbance decoupling problem of nonlinear control systems with uncertainties based on feedback linearization approach and fuzzy logic control. The main contribution of this study is to construct a controller, under appropriate conditions, such that the resulting closed-loop system is valid for any initial condition and bounded tracking signal with the following characteristics: input-to-state stability with respect to disturbance inputs and almost disturbance decoupling, i.e., the influence of disturbances on the norm of the output tracking error can be arbitrarily attenuated by changing some adjustable parameters. This study presents a feedback linearization controller for diving control of an unmanned underwater vehicle. Unmanned underwater vehicle proposes difficult control subject due to its nonlinear dynamics, uncertain models, and the existence of disturbances that are difficult to measure. In general, while investigating the diving dynamics of an unmanned underwater vehicle, the pitch angle is always assumed to be small. This assumption is a strong restricting constraint in many interesting practical applications, and will be relaxed in this study. Simulation exploit the fact that the overall UUV control system is stable and has robust property with proposed control scheme.
| Identifer | oai:union.ndltd.org:TW/100NCYU5392012 |
| Creators | Kuan-Yu Chou, 周冠宇 |
| Contributors | Yen-Chu Hong, Chung-Cheng Chen, 洪燕竹, 陳中政 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 50 |
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