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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 傅立成 | |
| dc.contributor.author | Ming-Li Chiang | en |
| dc.contributor.author | 江明理 | zh_TW |
| dc.date.accessioned | 2021-06-15T06:15:15Z | - |
| dc.date.available | 2012-08-18 | |
| dc.date.copyright | 2010-08-18 | |
| dc.date.issued | 2010 | |
| dc.date.submitted | 2010-08-11 | |
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/47731 | - |
| dc.description.abstract | A switched system consists of several continuous dynamics and a switching signal that governs the activation of the corresponding dynamics among all subsystems. Control of fast varying systems has been a challenging task in control theory and switched systems can be regarded as such systems since they possess fast variations due to switching dynamics. Recently, stability analysis and control of switched systems have attracted much attentions. In this thesis, adaptive control of switched systems with unknown parameters and unknown switching signals is considered. The main challenge of control design for switched systems lies in the unamenability of the stability theories for analysis of such systems. We first analyze the stability properties of switched systems with traditional adaptive control schemes, and then we propose variable structure (VS) based adaptive control for the considered problem and integrate theories of adaptive control and switched systems to provide the solution in terms of the properties of switching signals. With the proposed VS adaptive control, stability and performance of the considered systems can be guaranteed under the conditions in terms of the switching signals. For the variable structure-model reference adaptive control (VS-MRAC) scheme, output tracking error is shown to be proportional to the designed gains, analogous to the non-switched system case. The switching signal condition is conservative due to parameters being unknown. For the VS adaptive backstepping control scheme, we can explicitly and accurately derive the conditions of switching signal. Moreover, thorough theoretic analysis on the proposed design is performed and simulation examples are provided to validate the analysis. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-15T06:15:15Z (GMT). No. of bitstreams: 1 ntu-99-D91921005-1.pdf: 741002 bytes, checksum: 3e3d683c60d78d972a6702160d1d35f4 (MD5) Previous issue date: 2010 | en |
| dc.description.tableofcontents | Acknowledgments ............... ..........................i
Abstract .............................................. iii 1 Introduction ...........................................1 1.1 Motivation . . . . . . . . . . . . . . . . . . . . . 2 1.2 Research Areas and State of the Art . . . . . . . 4 1.3 Contributions and Thesis Scope . . . . . . . . . . .. 8 1.4 Notations and Acronyms . . . . .. . . . . . . . . . . 12 2 Preliminaries ..........................................15 2.1 Switched Systems and Switching Signals . . . . . . .. 15 2.1.1 Formulation of Switched Systems . . . . . . . . . 15 2.1.2 Switching Signals . . . . . . . . . . . . . . . . . 17 2.2 Analysis Tools for Switched Systems . . . . . . . . . 18 3 Robust Adaptive Control of Switched Systems............ 25 3.1 Introduction . . . . . . . . . . . . . . . . . ... . 25 3.2 Problem Formulation . . . . . . . . . . . . . . . . . 28 3.3 State Feedback Example of MRAC of Switched Systems . 29 3.4 Robust MRAC of Switched Systems . . . ... . . . . . . 32 3.5 Concluding Remarks . . . .. . . . . . . . . . . . . . 39 4 Variable Structure Model Reference Adaptive Control of Switched Systems ..................................... .41 4.1 State Feedback VS-MRAC of Switched Linear Systems . . 42 4.2 Output Feedback VS-MRAC of Switched Systems with Relative Degree One . .. ......................... . 45 4.2.1 Estimate of Dwell-Time . . . . . . . . . . . . . . 51 4.3 VS-MRAC of Switched Systems with Relative Degree Two 56 4.4 VS-MRAC of Switched Systems with General Relative Degree . . . . . . . . . . . . . . . . . . . . .. . 65 4.5 Simulation Results . . . . . . . . . . . . . . . . . 72 4.6 Concluding Remarks . . . . . . . . . . . . . . . . . 76 5 VS Adaptive Backstepping Control of Switched Systems .. 79 5.1 VS based Tuning Function Design with Relative Degree One System . . . . . . . . . . . . . . . . . . . . . 80 5.2 VS Adaptive Backstepping Control with General Relative Degree Systems . . . . . . . . . . . . . . . . . . . 86 5.2.1 Switched Linear Systems with Relative Degree One . .88 5.2.2 Switched Linear Systems with Relative Degree Greater than One. . . . . . . . . . . . . . . . . . . . . . 94 5.3 Examples . . . . . . . . . . . . . . . . . . . . . 100 5.4 Concluding Remarks . . . . . . . . . . . . . . . . . 102 6 Conclusions and Future Works . . . . . .. . . . . . 105 A Solutions of Matrix Equations in Positive Real Lemma. 109 Bibliography . . . . . . . . . . . . . . . . . . . . . .117 | |
| dc.language.iso | en | |
| dc.subject | 遞迴步階控制 | zh_TW |
| dc.subject | 切換式系統 | zh_TW |
| dc.subject | 適應控制 | zh_TW |
| dc.subject | 多重里亞普諾夫函數 | zh_TW |
| dc.subject | 停留時間 | zh_TW |
| dc.subject | 可變結構 | zh_TW |
| dc.subject | multiple Lyapunov function | en |
| dc.subject | backstepping control | en |
| dc.subject | variable structure | en |
| dc.subject | dwell time | en |
| dc.subject | Switched systems | en |
| dc.subject | adaptive control | en |
| dc.title | 具未知參數切換式系統之適應控制：分析與設計 | zh_TW |
| dc.title | Adaptive Control of Switched Systems with Unknown Parameters: Analysis and Design | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 98-2 | |
| dc.description.degree | 博士 | |
| dc.contributor.oralexamcommittee | 陳博現,鄭志強,徐保羅,練光祐,廖德祿,林俊良,蔡聖鴻 | |
| dc.subject.keyword | 切換式系統,適應控制,多重里亞普諾夫函數,停留時間,可變結構,遞迴步階控制, | zh_TW |
| dc.subject.keyword | Switched systems,adaptive control,multiple Lyapunov function,dwell time,variable structure,backstepping control, | en |
| dc.relation.page | 131 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2010-08-11 | |
| dc.contributor.author-college | 電機資訊學院 | zh_TW |
| dc.contributor.author-dept | 電機工程學研究所 | zh_TW |
| 顯示於系所單位： | 電機工程學系 | |
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| ntu-99-1.pdf 未授權公開取用 | 723.63 kB | Adobe PDF |
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