| Summary: | 碩士 === 長庚大學 === 電機工程學研究所 === 96 === This thesis mainly investigates the stabilizing controller design for nonlinear systems, where dynamic surface control is utilized for the ball and beam system and the planetary gear-type inverted pendulum (PIP). In general, based on backstepping control, the problems of tracking and stability analysis can be dealt with for nonlinear systems represented as a strict feedback formation by recursively choosing proper Lyapunov functions. However, the design complexity significantly increases with respect to high order systems. For the dynamic surfaces control, a first
order low-pass filter is used such that the design complexity can be reduced. PIP, a highly coupling mechanism, needs an appropriate state variable conversion so that the dynamic surface control method can be applied. Simulation results, with the comparison of backstepping control, illustrate that dynamic surface control can provide better equilibrium responses. However, the backstepping and dynamic surface control methods are not affordable with unknown parameters. In this thesis, an
adaptive dynamic surface control is proposed such that the stabilized equilibrium of PIP system with unknown parameters can be achieved.
|
|---|
