The H∞ -QFT Sphere-tracking Control Design for uncertain Systems
碩士 === 國立成功大學 === 系統及船舶機電工程學系碩博士班 === 101 === Most mathematical model of physical system contains various uncertainties, which may be presented in the form of system parameter variation. These uncertainties may make the closed-loop system unstable or result in poor system performance. In this study,...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2013
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| Online Access: | http://ndltd.ncl.edu.tw/handle/64383771513707195584 |
| Summary: | 碩士 === 國立成功大學 === 系統及船舶機電工程學系碩博士班 === 101 === Most mathematical model of physical system contains various uncertainties, which may be presented in the form of system parameter variation. These uncertainties may make the closed-loop system unstable or result in poor system performance. In this study, an uncertain system containing bounded parameter variation with a sphere-bounded reference input is considered. The composite design methodology of the -control and the Quantitative Feedback Theory is then proposed in this research for the above system to ensure that the system output is bounded in the pre-specified sphere, which matches the desired performance. To match the desired specifications, three weighting matrices 、 、 and a lag-lead compensator that contains servo mechanism are added to the augmented plant so that the proposed controller is able to minimize the norm of the matrix between the exogenous inputs and the controller outputs to reduce the ill-effects caused by disturbances and plant uncertainties on the tracking errors and the control energy while the desired system performance can be guaranteed by examining the Nichols chart through the QFT process. Finally a physical system of an underwater vehicle is used as an example to demonstrate the feasibility of the proposed control structure.
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