| URN |
etd-0631114-172039 |
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| Author |
Yan-Si Lin |
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| Author's Email Address |
No Public. |
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| Statistics |
This thesis had been viewed 5573 times. Download 46 times. |
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| Department |
Electrical Engineering |
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| Year |
2013 |
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| Semester |
2 |
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| Degree |
Ph.D. |
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| Type of Document |
|
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| Language |
English |
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| Title |
Design of Backstepping Controllers for Perturbed Nonlinear Systems in Semi-strict Feedback Form |
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| Date of Defense |
2014-07-14 |
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| Page Count |
95 |
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| Keyword |
semi-strict feedback form
Backstepping control
terminal block backstepping control
Lyapunov stability t
strict feedback form
|
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| Abstract |
Three robust control strategies are proposed in this dissertation for nonlinear dynamic systems with matched and mismatched perturbations. Firstly, a block backstepping control method is presented so that it can be directly applied to systems with multiple state delayed perturbations in block semi-strict feedback form to solve regulation problems. The terms in the dynamic equations which do not satisfy the block strict-feedback form are accumulated in the last design step and are suppressed effectively by the designed adaptive gains. Adaptive mechanisms are employed in each of the virtual input controllers as well as the robust controller, hence the least upper bounds of perturbations are not required to be known in advance, and the property of asymptotic stability is guaranteed. Secondly, a terminal block backstepping control method is presented for a class of multi-input systems with matched and mismatched perturbations to solve regulation problems. A derivative estimation algorithm embedded in the controller is utilized to estimate the perturbations, so that the drawbacks of so-called ``explosion of complexity" and ``singularity problem" are totally eliminated. This control scheme not only has the ability of dealing with mismatched perturbations, but also is capable of driving the controlled states to reach zero within finite time. Thirdly, synchronization of two different chaotic systems with matched and mismatched perturbations by utilizing adaptive backstepping control technique is developed. The resultant control scheme guarantees the property of uniformly ultimately boundedness when solving the chaotic synchronization problems. Several numerical examples are demonstrated for showing the feasibility of the proposed control methodologies. |
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| Advisory Committee |
Yon-Ping Chen - chair
Yeong-Jeu Sun - co-chair
Wu-Chang Su - co-chair
Shyh-leh Chen - co-chair
Chih-Chiang Cheng - advisor
|
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| Files |
Indicate in-campus at 5 year and off-campus access at 5 year. |
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| Date of Submission |
2014-07-31 |
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