Design of Adaptive Block Backstepping Controllers for Systems with Mismatched Perturbations

• Main Authors: Guo-Liang Su, 蘇國樑
• Other Authors: Chih-Chiang Cheng
• Format: Others
• Language: en_US
• Published: 2009
• Online Access: http://ndltd.ncl.edu.tw/handle/49uvbw

碩士 === 國立中山大學 === 電機工程學系研究所 === 97 === Based on the Lyapunov stability theorem, a design methodology of adaptive block backstepping controller is proposed in this thesis for a class of multi-input systems with mismatched perturbations to solve regulation problems. According to the number of block (m) in the plant to be controlled, m-1 virtual input controllers are designed from the first block to the (m-1)th block. Then the proposed robust controller is designed from the last block. Adaptive mechanisms are employed in each of the virtual input controllers as well as the robust controller, so that the knowledge of the least upper bounds of mismatched perturbations is not required. The resultant control system can achieve asymptotic stability. Finally, a numerical example and a practical example are given for demonstrating the feasibility of the proposed control scheme.