서지주요정보
시간 지연 추정을 이용한 강인 Backstepping 제어 = Robust backstepping control using time delay estimation
서명 / 저자 시간 지연 추정을 이용한 강인 Backstepping 제어 = Robust backstepping control using time delay estimation / 김성태.
저자명 김성태 ; Kim, Seong-Tae
발행사항 [대전 : 한국과학기술원, 2002].
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소장정보

등록번호

8012760

소장위치/청구기호

학술문화관(문화관) 보존서고

MME 02017

휴대폰 전송

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이용가능

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반납예정일

초록정보

A controller is proposed for the robust backstepping control of a class of nonlinear multiple-input multiple-output (MIMO) systems which can be converted to a strict-feedback form. The proposed robust backstepping control scheme follows a systematic procedure for the design of control laws and uses time delay estimation (TDE) to estimate the uncertainties such as parameter variations, unknown disturbances, and unmodeled dynamics, etc. The proposed controller can be also applied to nonlinear MIMO systems with unmatched uncertainties. Stability analysis of the closed-loop system which contains the plant and the proposed controller is also studied and hereby a sufficient stability condition for the closed-loop system is proposed. Modified controllers for systems with a low-pass filter are also investigated. The simulation results show that the control scheme works well with uncertainties and the proposed stability condition is valid. The controller is experimentally verified on a single-link flexible arm to show the effectiveness of the proposed scheme in the complicated systems with uncertainties.

서지기타정보

서지기타정보
청구기호 {MME 02017
형태사항 iii, 79 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Seong-Tae Kim
지도교수의 한글표기 : 장평훈
지도교수의 영문표기 : Pyung-H. Chang
학위논문 학위논문(석사) - 한국과학기술원 : 기계공학전공,
서지주기 참고문헌 : p. 78-79
주제 강인 제어
백스테핑
시간 지연 추정
백스테핑 제어
robust control
backstepping
time delay estimation
backstepping control
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