Adaptive Control Design for a Class of Nonlinear Uncertain Underactuated System

in National workshop (full text oral presentation), 國內研討會(全文口頭發表)
標題Adaptive Control Design for a Class of Nonlinear Uncertain Underactuated System
出版類型國內研討會(全文口頭發表)
出版年度2008
AuthorsYang, 楊榮華
會議名稱第25屆機械工程研討會
出版日期Nov 21 2008 12:0
會議地點大葉大學
其他編號0000
中文摘要

Due to lack of enough control inputs for system degrees of freedom, the underactuated system is always a challenging problem in the field of control application. For this reason, a growing interest is arising about the design of automatic control systems for underactuated system. In this paper, a new coupling control scheme applied to obtain a globally asymptotically stable resat parameters for a class of underactuated mechanic system. By utilizing a Lyapunov-based stability analysis, we can achieve asymptotic tracking of desired reference signal which is subject to both underactuation and parametric uncertainties.

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