Adaptive Controller Design for Systems with Input Nonlinearity

• Main Authors: Bo-Shun Zhang, 張博順
• Other Authors: Lin Hong
• Format: Others
• Language: zh-TW
• Published: 2006
• Online Access: http://ndltd.ncl.edu.tw/handle/42836184308443298878

碩士 === 國立高雄應用科技大學 === 電機工程系碩士班 === 94 === Generally, when the controller is implemented, we usually encounter some discontinuous, uneven of nonlinear phenomena such as saturation, dead-zone, backlash, and quantization, etc. These phenomena may result from electronic component, part of system or servo motor. They usually cause a well-designed control system to result with a bad response, or even make the whole system unstable. Therefore, the thesis mainly puts emphasis on the solution to above-mentioned problems. We divided it into two parts, the first one is for the systems with input saturation, in which case the method of traditional MRAC (model reference adaptive control) [2] is used to get the adaptive control rule. The second part is for the systems with input dead-zone, backlash, quantization, etc. Under such nonlinear situation, adaptive control law combing with sliding control [3] and backstepping algorithm [5], are used to derive out adaptive controller. For the adaptive controller which is designed by above-mentioned methods, the Lyapunov theorem has been utilized to prove its stability, and Barbalat's Lemma is used to evaluate its tracking performance. Moreover, by applying the adaptive controller in various kinds of input nonlinearity systems, and doing completely simulation analysis, we get results of system stability and reach the optimality and robustness on tracking control. Hence, for systems with input nonlinear phenomena, by utilizing the methods depicted in this thesis, it can effectively reduce the difficulties of design, and obtain a better performance.