非線性雙旋轉翼多輸入多輸出系統之強健輸出追蹤控制

ROBUST OUTPUT TRACKING CONTROL OF A NONLINEAR TWIN ROTOR MIMO SYSTEM

林東緯(Tung-Wei Lin)

指導教授 ： 江江盛

大同大學/電機資訊學院/電機工程學系所/碩士(2009年)

摘要

在本篇論文中針對具有不確定項之雙旋轉翼多輸入多輸出非線性系統，提出強健適應追蹤控制的運算法則來處理輸出追蹤性能的問題。雙旋轉翼系統針對具有控制問題之飛行器被視為靜態測試控制。因此，針對非線性的氣體動力函數其動態模型的穩定度分析是必要的。透過李氏微分來轉換此非線性系統的動態方程式到所對應的等效系統。進而，使用一些適應法則來近似不確定項的未知上界。因耦合效應在雙軸之間及其高度非線性，則設計控制器關於雙旋轉翼系統是個考驗。基於李亞普洛夫穩定定理，所提出的控制器不僅可以確保多變量非線性系統的強健穩定性，而且能獲得良好的追蹤效能。最後，本論文提出一個例題來證實所提出控制器的有效性。

關鍵字

追蹤誤差 ； 漸近穩定 ； 雙旋轉翼多輸入多輸出系統 ； 適應法則 ； 非線性系統 ； 強健適應控制 ； 不確定性 ； 李亞普諾夫穩定定理

並列摘要

In this thesis, a robust adaptive tracking control algorithm for a nonlinear twin rotor multi-input multi-output system (TRMS) with uncertainties is proposed to deal with the problem of output tracking performance. The TRMS can be perceived as a static test rig for an air vehicle with more control challenges. Therefore, a stability analysis in dynamic modeling of nonlinear aerodynamic function is needed. The original nonlinear system dynamics can be transformed into an equivalent system by means of the concept of Lie derivative. Moreover, some adaptive laws are used to approximate the upper bounds of uncertainties. To design a feasible controller for the TRMS is challenging due to the coupling effects between two axes and also due to its highly nonlinear characteristics. Based on Lyapunov stability theorem, the proposed robust adaptive controller can not only guarantee the robust stability of the multivariable nonlinear systems but also obtain good tracking performance. Finally, a simulation result shows the effectiveness of the proposed method.

並列關鍵字

tracking error ； twin rotor multi-input multi-output systems ； robust adaptive controller ； nonlinear systems ； uncertainties ； asymptotic stabilization ； adaptive law ； Lyapunov stability theorem

參考文獻

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