Design of Adaptive Block Backstepping Controllers for Perturbed Systems with Input Nonlinearity and Dead Zone

• Main Authors: Song-Hua Ju, 朱松華
• Other Authors: Chih-Chiang Cheng
• Format: Others
• Language: en_US
• Published: 2015
• Online Access: http://ndltd.ncl.edu.tw/handle/2yh3kd

碩士 === 國立中山大學 === 電機工程學系研究所 === 103 === 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 input nonlinearity and dead zone to solve regulation problems. According to the number of block (m) in the plant to be controlled, m-1 virtual inputs are designed from the first block to the (m-1)th block. The proposed robust controller is designed from the last block. Adaptive mechanisms are also employed in each of the virtual inputs and the robust controller, hence the knowledge of the least upper bounds of perturbations is not required. Stability analysis shows that the controlled system is able to achieve asymptotic stability if all the control inputs is outside of the dead zone, and uniformly ultimately bounded is achieved if any one of the designed control inputs is in the dead zone. A numerical and a practical example are given for demonstrating the feasibility of the proposed control scheme.