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Theoretical study of MT- filter adaptive backstepping controller

Author: WuZhaoJing
Tutor: JieXueJun
School: Qufu Normal University
Course: Operational Research and Cybernetics
Keywords: Robustness MT- filter Adaptive Backstepping Control σ- modified adaptive law
CLC: TP13
Type: Master's thesis
Year: 2002
Downloads: 44
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Abstract


Studied theoretically with MT-filter adaptive backstepping controller main content can be divided into two parts: the first part of the MT-filter adaptive backstepping controller robustness analysis for the system: y (t) = B (s) / A (s) (1 μ 1 Δ 1 (s)) u (t) μ 2 Δ 2 (s) y (t), where A (s) = S n α n-1 s n- 1 ... α 1 s α 0 , B (s) = b m s m b m-1 s m-1 ... b 1 sb 0 , α i and b j (i = 1,2 ..., n-1; j = 1,2, ..., m) for the unknown parameter the Δ 1 (s), Δ 2 (s) is not modeling dynamics, μ 1 μ 2 ≥ 0 is a parameter. s is the differential operator. Control objectives: to design an adaptive backstepping controller makes all the signals of the closed-loop system are bounded, while the output of the system tends to zero asymptotically. This part of the literature [1] proposed anti-push (Backstepping) technology MT-filter design of the adaptive controller strictly proved adaptive backstepping controller on this without amendment law a class of unmodeled dynamics still has a certain degree of robustness. The second part of the time-varying system with MT-filter adaptive backstepping control regardless of the system: which is unknown time-varying parameters I n-1 is a unit vector, O ρ -1 ∈ R ρ-1 zero vector, u (t), x (t), y (t) are the input, state and output of the system, ρ is the relative degree , ρ = nm. Control $ target: the design of a control policy law and parameters 9 (t) Hill (t), a)] 'adaptive law makes all signals of the closed-loop system to see 2 output tracking error y * y / t) geodesic sufficiently small chapter for linear time-varying systems, the MT filter adaptive backstepping control problem, given the stability of the closed-loop system and tracking performance compared with the literature m The original meaning of the difficulty lies in the structure of the error system; stability proved to be more complex.

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