Nonlinear Control with Backstepping
| Autor: | Jen-Jack Yeh, 葉政杰 |
|---|---|
| Rok vydání: | 1999 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 87 The nonlinear dynamic equation of the mobile car has been derived with transformation from the absolute coordinate to the error coordinate with respect to the mass center of the mobile car. The Lyapunov stability principle and the backstepping method have been utilized in this thesis to simplify the design of the controller for this nonlinear dynamic problem. Based on the physical meanings, we introduce a new state, the combination of two original states, into the cost function. Weighting factors for the states of the system have been implemented in the cost function, and convergent parameters have also been included during the procedure of backstepping method. Three types of velocity controllers have been proposed, and simulations with these three controllers have been conducted to verify their tracking ability related to those weighting factors and convergent parameters. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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