Title page for etd-0615115-152743


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URN etd-0615115-152743
Author Song-Hua Ju
Author's Email Address No Public.
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Department Electrical Engineering
Year 2014
Semester 2
Degree Master
Type of Document
Language English
Title Design of Adaptive Block Backstepping Controllers for Perturbed Systems with Input Nonlinearity and Dead Zone
Date of Defense 2015-06-25
Page Count 80
Keyword
  • dead-zone
  • input nonlinearities
  • semi-strict feedback form
  • Lyapunov stability theorem
  • block backstepping control
  • adaptive control
  • Abstract Based on the Lyapunov stability theorem, a design methodology of adaptive block backstepping controller is proposed in this thesis for a class of multi-input systems with input nonlinearity and dead zone to solve regulation problems. According to the number of block (m) in the plant to be controlled, m-1 virtual inputs are designed from the first block to the (m-1)th block. The proposed robust controller is designed from the last block. Adaptive mechanisms are also employed in each of the virtual inputs and the robust controller, hence the knowledge of the least upper bounds of perturbations is not required. Stability analysis shows that the controlled system is able to achieve asymptotic stability if all the control inputs is outside of the dead zone, and uniformly ultimately bounded is achieved if any one of the designed control inputs is in the dead zone. A numerical and a practical example are given for demonstrating the feasibility of the proposed control scheme.
    Advisory Committee
  • Chi-Cheng Cheng - chair
  • Chung-Yao Kao - co-chair
  • Chih-Chiang Cheng - advisor
  • Files
  • etd-0615115-152743.pdf
  • Indicate in-campus at 5 year and off-campus access at 99 year.
    Date of Submission 2015-07-30

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