具輸入不確定子之幾類不確定非線性系統的簡易線性控制器設計

Simple linear controller designs for several classes of uncertain nonlinear systems with input uncertainties

陳聖杰(Sheng-Chieh Chen)

指導教授 ： 孫永莒

義守大學/智慧科技學院/電機工程學系/碩士(2024年)

摘要

誠如我們所知，近年來有關不確定系統之強健控制器的設計已被廣泛的討論及研究。基於實務上的需求，系統輸入端的不確定性，著實應考慮進去；然而同時擁有系統的不確定參數及輸入不確定子的雙重因素，大大加深控制器設計的難度。再者，由於線性控制器同時具有價格便宜及容易硬體實現之雙優點，故線性控制器的設計，一直是控制工程師夢寐以求的標的。本論文擬針對具輸入不確定子之幾類不確定非線性系統，設計簡易型的線性控制器，促使整個閉迴路控制系統，達成全域指數穩定的目標。

關鍵字

非線性系統 ； 全域指數穩定 ； 不確定系統 ； 線性控制 ； 輸入不確定子

並列摘要

As we know, the design of robust controllers for uncertain systems has been widely discussed and studied in recent years. Based on practical needs, the uncertainty of the system input should be taken into account; however, the dual factors of system parameter uncertainty and input uncertainty greatly increase the difficulty of controller design. In addition, because linear controllers have the dual advantages of low price and easy hardware implementation, the design of linear controllers has always been the dream of control engineers. In this thesis, we design simple linear controllers for several classes of uncertain nonlinear systems with input uncertainties, so as to promote the whole closed-loop control systems achieve the goal of global exponential stability.

並列關鍵字

Nonlinear system ； Global exponential stabilization ； Uncertain systems ； Linear control ； Input uncertainties

參考文獻

[1] L. Brunke, S. Zhou, M. Che, A.P. Schoellig, “Optimized control invariance conditions for uncertain input-constrained nonlinear control systems”, IEEE Control Systems Letters, Vol. 8, pp. 375-379, 2024.

[2] B.K. Lenka and R.K. Upadhyay, “Global stabilization of incommensurate real order time-varying nonlinear uncertain systems”, IEEE Transactions on Circuits and Systems II: Express Briefs, Vol. 71, No. 3, pp. 1176-1180, 2024.

[3] S. Liu, H. Wang, T. Li, and K. Xu, “Adaptive neural fixed-time control for uncertain nonlinear systems”, IEEE Transactions on Circuits and Systems II: Express Briefs, Vol. 71, No. 2, pp. 637-641, 2024.

[4] B. Mao, X. Wu, Z. Fan, and H. Liu, “Performance-Guaranteed finite-time tracking for uncertain strict-feedback nonlinear systems”, IEEE Transactions on Circuits and Systems II: Express Briefs, Vol. 71, No. 1, pp. 375-379, 2024.

[5] R. Meng, C. Hua, K. Li, and P. Ning, “A multifilters approach to adaptive event-triggered control of uncertain nonlinear systems with global output constraint”, IEEE Transactions on Cybernetics, Vol. 54, No. 2, pp. 1143-1153, 2024.