雙質量倒單擺系統之適應性控制

Adaptive Control for Two-Mass Inverted Pendulum System

林信佑(Hsin-Yu Lin)

指導教授 ： 楊榮華

國立屏東科技大學/工學院/車輛工程系所/碩士(2008年)

https://doi.org/10.6346/NPUST.2008.00264

摘要

此論文提出適應性控制設計，並完成了追蹤和穩定於雙質量倒單擺系統。經由利用李亞普諾夫穩定性分析，所提出的控制器已經有效的被證明。另外，藉由電腦模擬和實驗也驗證控制器之可行性。

關鍵字

雙質量倒單擺系統 ； 李亞普諾夫穩定性 ； 適應性控制

並列摘要

In this thesis, the development and implementation of an adaptive control scheme for tracking and stabilization of a two-mass inverted pendulum system has been presented. By utilizing Lyapunov-based stability analysis, the effectiveness of the proposed controller has been demonstrated. In addition, the feasibility of the controller is also demonstrated by computer simulation and experiments.

並列關鍵字

Two-Mass Inverted Pendulum System ； Lyapunov Stability ； Adaptive Control

參考文獻

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