| Summary: | 碩士 === 國立中山大學 === 電機工程學系研究所 === 101 === Based on the Lyapunov stability theorem, a decentralized adaptive backstepping tracking control with perturbation estimation scheme is proposed in this thesis for a class of perturbed large scale systems to solve tracking problems. The dynamic equations of the plant is more general than those in the pure feedback form. We first transformed the dynamic equations of the plants into a semi-strict feedback form, then designed the controllers by using backstepping control method, so that the outputs are able to track the reference signals. In addition, perturbation estimation mechanisms are employed so that there is no need to compute the derivatives of the virtual input functions, and the upper bounds of the perturbations as well as perturbation estimation errors are not required to be known in advance either. Therefore, the problems of “explosion of complexity” are totally eliminated. The resultant control scheme guarantees the stability of the whole controlled systems, and the tracking precision can be adjusted by tuning the design parameters. Finally, a numerical example and a practical example are demonstrated to verify the feasibility of the proposed control scheme.
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