Study on Tracking Control for a Class of Nonlinear Systems

• Main Authors: Ting-li Chien, 簡鼎立
• Other Authors: none
• Format: Others
• Language: en_US
• Published: 2005
• Online Access: http://ndltd.ncl.edu.tw/handle/38189778790809080012

博士 === 國立雲林科技大學 === 工程科技研究所博士班 === 94 === Tracking control of nonlinear systems by feedback linearization is proposed. There are four subjects to be addressed in this study: (1) tracking control of nonlinear time-delay systems; (2) tracking control and almost disturbance decoupling of nonlinear uncertain systems with Sinswat transformation; (3) tracking control and almost disturbance decoupling of nonlinear systems with uncertainties; (4) globally exponential tracking of nonlinear systems. Feedback linearization is a method to investigate the design of nonlinear control systems. The original nonlinear control systems can be transformed into equivalent linear control systems by this method such that traditional linear control techniques can be easily applied. The differential geometric approach used in this study has been proven to be an effective mathematic tool to analyze and design the nonlinear control systems. Besides the differential geometry approach, the composite Lyapunov approach is also proposed to insure the stability of systems with the concept of energy convergence. This study provides systematic analysis and simple structure to design robust controllers and their contributions include: (A) a robust globally asymptotical output tracking controller for a broad class of nonlinear time-delay control systems is developed; (B) for any initial condition and bounded tracking signal conditions, some criteria are developed for the design of a tracking controller to fulfill the stability of input-to-state with disturbance inputs or almost disturbance decoupling; (C) develop a controller with robust exponential and stable output tracking, which can globally exponentially decay the error of output tracking, preset the convergent rate, and insure the stability of the trajectories of the closed-loop system; (D) the proposed control methodology has been successfully applied to practical nonlinear systems such as the ball and beam system, the inverted pendulum system, and the automobile idle-speed control system; (E) in particular, for nonlinear systems being not solved by the existing approach in some literatures, the results reveal that an anticipated well-performance controller can be obtained with our proposed method.