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ID:34973137
大小:2.10 MB
页数:146页
时间:2019-03-15
《Adaptive Robust Control of Nonlinear Systems with Application to Control of Mechanical Systems.pdf》由会员上传分享,免费在线阅读,更多相关内容在学术论文-天天文库。
1、AdaptiveRobustControlofNonlinearSystemswithApplicationtoControlofMechanicalSystemsbyBinYaoB.Eng.(BeijingUniversityofAeronauticsandAstronautics,P.R.China)1987M.Eng.(NanyangTechnologicalUniversity,Singapore)1992Adissertationsubmittedinpartialsatisfactionoftherequ
2、irementsforthedegreeofDoctorofPhilosophyinMechanicalEngineeringintheGRADUATEDIVISIONoftheUNIVERSITYofCALIFORNIAatBERKELEYCommitteeincharge:ProfessorMasayoshiTomizuka,ChairProfessorKarlJ.HedrickProfessorS.ShankarSastry19961AbstractAdaptiveRobustControlofNonlinea
3、rSystemswithApplicationtoControlofMechanicalSystemsbyBinYaoDoctorofPhilosophyinMechanicalEngineeringUniversityofCaliforniaatBerkeleyProfessorMasayoshiTomizuka,ChairThisdissertationfocusesonthehighperformancerobustcontrolofnonlinearsystemsinthepresenceofparametr
4、icuncertaintiesanduncertainnonlinearities(e.g.,disturbances)anditsapplicationtothecontrolofmechanicalsystems.Anewapproach,adaptiverobustcontrol(ARC),isproposed.Theapproacheectivelycombinesthedesigntechniquesofadaptivecontrol(AC)anddeterministicrobustcontrol(DR
5、C)andimprovesperformancebypreservingtheadvantagesofbothACandDRC.Speci-cally,theapproachguaranteesasuperiorperformanceintermsofbothtransienterrorandnaltrackingaccuracyinthepresenceofparametricuncertaintiesanduncertainnonlinearities.Thisresultovercomesthedrawba
6、cksofACandmakestheapproachattractivetorealapplications.Throughparameteradap-tation,theapproachachievesasymptotictrackinginthepresenceofparametricuncertaintieswithoutusingahigh-gaininthefeedbackloop,whichimpliesthatthecontrolinputissmooth.Inthissense,ARChasabett
7、ertrackingperformancethanDRC.Thedesignisconceptuallysimpleandamenabletoimplementation.AgeneralframeworkoftheproposedARCisformulatedintermsofadaptiverobustcontrol(ARC)Lyapunovfunctions.Throughbacksteppingdesign,ARCLyapunovfunctionscanbesuccessfullyconstructedfor
8、alargeclassofmulti-inputmulti-output(MIMO)nonlinearsystemstransformabletoasemi-strictfeedbackform.Themethodisappliedtothecontrolofrobotmanipulatorsinseveralapplications.Fort
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