Title page for etd-0201112-142226


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URN etd-0201112-142226
Author Chia-Wei Chien
Author's Email Address No Public.
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Department Electrical Engineering
Year 2011
Semester 1
Degree Master
Type of Document
Language English
Title Design of Adaptive Block Backstepping Controllers for Perturbed Nonlinear Systems with Input Nonlinearities
Date of Defense 2012-01-12
Page Count 113
Keyword
  • adaptive block backstepping controller
  • Lyapunov stability theorem
  • semi-strict feedback form
  • fuzzy inverse function estimator
  • input nonlinearities
  • Abstract Based on the Lyapunov stability theorem, a design methodology of adaptive block backstepping control scheme is proposed in this thesis for a class of multi-input perturbed nonlinear systems with input nonlinearities to solve regulation problems. Fuzzy control method is utilized to estimate the unknown inverse input functions in order to facilitate the design of the proposed control scheme, so that the sector condition need not to be satisfied. According to the number of block m in the plant to be controlled, m−1 virtual input controllers are designed from the first block to the (m−1)th block. Then the proposed robust controller is designed from the last block. Adaptive mechanisms are also employed in the virtual input controllers as well as the robust controller, so that the least upper bounds of perturbations and estimation errors of inverse input functions are not required. The resultant control system is able to achieve asymptotic stability. Finally, a numerical example and a practical example are given for demonstrating the feasibility of the proposed control scheme.
    Advisory Committee
  • Chung-Yao Kao - chair
  • Shiang-Hwua Yu - co-chair
  • Chih-Chiang Cheng - advisor
  • Files
  • etd-0201112-142226.pdf
  • Indicate in-campus at 5 year and off-campus access at 5 year.
    Date of Submission 2012-02-01

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