| Summary: | 碩士 === 國立中山大學 === 電機工程研究所 === 85 === In this paper, a new direct adaptive control called Switching Direct Adaptive Control Law (SDACL) for a system with unknown time-varying parameters and bounded disturbance is developed. The proposed SDACL over-comes the drawbacks of dead-zone adaptive control and σ-modification adaptive control. Comparing with switching-σ adaptive control law, it achieves better transient response, has less free design parameters, has less chatting, and its analysis can conclude the gain of the controller will not drift to infinity in the presence of bounded disturbance.
Besides,we developed the Switching Direct Tracking Adaptive Control Law (SDTACL) for a system with unknown constant parameters and bounded disturbance. Comparing with switching-σ adaptive control law, it also achieves better transient response, has less free design parameters, has less chatting, has less tracking error, and its analysis can conclude the gain of the controller will not drift to infinity in the presence of bounded disturbance.
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