Adaptive Frequency Shaped Linear Quadratic Controller Design and Experiments

• Main Authors: Ting-kai Jhuang, 莊廷凱
• Other Authors: An-chyau Huang
• Format: Others
• Language: zh-TW
• Published: 2014
• Online Access: http://ndltd.ncl.edu.tw/handle/84300684330937347938

碩士 === 國立臺灣科技大學 === 機械工程系 === 102 === The traditional LQ controller can give optimal performance to a known linear system in the time domain, while the frequency shaped LQ controller is able to provide optimal performance to the same class of systems in the frequency domain. When the system contains uncertainties, both of these two approaches fail. In this thesis, an adaptive controller is proposed to an uncertain mechanical system such that LQ performance can be achieved in the frequency domain. The function approximation technique is applied to represent the uncertainties into a finite combination of a set of known basis functions. This allows the system to be with various nonlinearities without significant impact on the design procedure. The Lyapunov-like analysis is used to ensure convergence of the system output and boundedness of the internal signals. A dual stage is built to evaluate the performance of the proposed scheme experimentally. Tomizuka’s design is implemented in its adaptive version proposed in this thesis as a formal behavior of the traditional frequency shaped LQ. An adaptive controller based on a new performance index is then presented with different characteristics in parameter adjustments and frequency domain behaviors.