The optimal composite feedback controller and its application on ship

• Main Authors: gen, christ, 簡新益
• Other Authors: Cheng-Neng Hwang
• Format: Others
• Language: zh-TW
• Published: 1996
• Online Access: http://ndltd.ncl.edu.tw/handle/92661124912272140296

碩士 === 國立成功大學 === 造船工程學系 === 85 === The systems most is nonlinear systems in industries appliction. In the paper, we will consider nonlinear systems, applying the feedback control theories to develop a optimal composite feedback controller. The Nominal compensator term in controller structure can somewhat compensate efficiently the uncertainties in system. The controller is very easy to construct and is simple in structure. The purpose of the controller structure is to derive a error third-order differential equation. From the proof we can prove the stable and get the convergence condition from concluding the error solution. Finally, we list the process of controller design and the applications on the robotic manipulators and ship in computer simulation.The result show the controller is robust in accuray of tracking.