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The Study of Parameterized Uncertain Nonlinear System Control

Author: LiYanNi
Tutor: YeXuDong;ZhuShanAn
School: Zhejiang University
Course: Control Theory and Control Engineering
Keywords: Nonlinear Uncertain parameters Robust Adaptive Control Backstepping Unknown disturbances Permanent magnet synchronous motors
CLC: TP13
Type: Master's thesis
Year: 2008
Downloads: 225
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Abstract


Control of nonlinear systems is the control sector research is an important topic . Due to the complexity of the non-linear characteristics , coupled with the uncertainty of the modeling error , external interference in practical engineering often can not directly apply the results of modern control theory . Control of uncertain nonlinear systems has been one of the difficulties of the current study . The research and development of the issue has important theoretical significance and practical value . Studied parameters uncertain nonlinear system stabilization and tracking problem , the main content is as follows : ● nonlinear system control method based on feedback linearization theory given feedback linearization conditions and steps . ● Research recursive control design principle , be applied to linear and nonlinear systems controller design , the use of the system 's structure characteristics recursive construct Lyapunov function of the system as a whole , given a structured design steps of the program to ensure that the system state sector to achieve global stability . ● study the stabilization problem of nonlinear systems in the case of parameter uncertainty . First , through the differential homeomorphism transformation to convert the system model parameters pure feedback form ; Second , based on Lyapunov stability theory , the combination of the recursive design ideas and adaptive control methods , given the global continuous calm systematic design steps . ● match interfere with the existence of a bounded parameter uncertain nonlinear systems , robust adaptive controller design method is given . Boundedness of the controller can guarantee the system state and achieve globally asymptotically stable at the origin . Stability analysis and simulation experiments to verify the effectiveness of the method . ● nonlinear system for permanent magnet synchronous motor , given the systematic tracking algorithm in two speeds . The first algorithm uses the recursive thought control designed controller can guarantee the signal global stability of the closed-loop system . The second algorithm will be extended to the first case of uncertain parameters , adaptive control algorithm , and Kanellakopoulous.I adaptive control improved , reducing the number of parameter estimates , reducing the controller dimension .

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