機械系統之適應最小時間控制｜國立臺灣科技大學博碩士論文系統

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研究生：	廖彥豪 Yen-Hao Liao
論文名稱：	機械系統之適應最小時間控制 Adaptive Minimum-Time Control of Mechanical Systems
指導教授：	黃安橋 An-Chyau Huang
口試委員:	陳亮光 Liang-kuang Chen 李錟鋒 Tan-Feng Lee
學位類別：	碩士 Master
系所名稱：	工程學院 - 機械工程系 Department of Mechanical Engineering
論文出版年：	2014
畢業學年度：	102
語文別：	中文
論文頁數：	40
中文關鍵詞：	機械系統、最小時間控制、函數近似法
外文關鍵詞：	mechanical systems, minimum-time control, function approximation technique
相關次數：	點閱：173 下載：12
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現今文獻中，並未有學者在系統參數皆未知的情況下，做出最小時間控制的結果，因此，本文提出一個適應最小時間控制法，可以在不知道系統參數的情況下，進行最小時間控制。此控制器以函數近似法來估測系統未知參數，並利用Lyapunov-like穩定理論得到適應更新律，以確保適當的最小時間性能。最後，將此方法實際應用於一維機械系統，以做為本文之驗證。

There are few results can be found in the literature on the minimum-time control of uncertain systems. In this thesis, we propose an adaptive minimum-time controller for a class of mechanical systems. The unknown parameters are estimated by the function approximation technique such that the adaptive loop can be realized. The Lyapunov-like technique is applied to prove closed-loop stability rigorously and to ensure boundedness of internal signals. A pendulum system is built to evaluate the performance of the proposed strategy.

中文摘要........................................................................I
Abstract......................................................................II
誌謝.........................................................................III
目錄..........................................................................IV
圖片索引........................................................................V
第一章	緒論...................................................................1
第二章	最小時間控制回顧..........................................................3
    2.1 不受限輸入的最佳控制問題...................................................3
    2.2 受限輸入的最佳控制問題.....................................................4
    2.3 最小時間控制問題..........................................................4
    2.4 Affine非線性系統之最小時間問題.............................................5
    2.5 線性非時變系統之最小時間控制問題.............................................6
    2.6 機械系統之最小時間問題....................................................16
第三章	適應最小時間控制器設計....................................................18
    3.1 未知機械系統之最小時間控制.................................................18
第四章	實驗設備與實驗結果.......................................................25
    4.1 實驗設備...............................................................25
    4.2 實驗結果...............................................................28
	4.2.1 系統已知.........................................................28
	4.2.2 系統未知.........................................................31
    4.3 性能比較...............................................................35
第五章	結論與未來展望..........................................................38
參考文獻.......................................................................39

                                

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