English  |  正體中文  |  简体中文  |  Items with full text/Total items : 26988/38789
Visitors : 2351278      Online Users : 31
RC Version 4.0 © Powered By DSPACE, MIT. Enhanced by NTU Library IR team.
Scope Adv. Search
LoginUploadHelpAboutAdminister

Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/49833

Title: 二輪車之無模型滑動模式追蹤控制器設計
Design of Model-free Sliding Mode Tracking Controllers for Two-wheeled Vehicles
Authors: Ku, Wei-Yueh
古韋曜
Contributors: NTOU:Department of Electrical Engineering
國立臺灣海洋大學:電機工程學系
Keywords: Model-free控制;滑動模式控制;二輪車;超局部模型
Model-free control;sliding mode control;two-wheeled vehicle;ultra-local model
Date: 2017
Issue Date: 2018-08-22T07:12:45Z
Abstract: 本論文之研究目的在於探討控制系統中動態模型未知時,利用Model-Free控制結合滑動模式控制以達成良好的控制效果。首先透過系統輸入及輸出訊號建立超局部模型,定義變數及狀態以建立狀態空間表示式,據以利用滑動模式控制法設計控制器。最後則利用二輪車之模擬及實驗結果來驗證此方法之可行性。
The goal of this thesis is to develop a model-free sliding mode control method for systems with unknown dynamic model. First, the dynamics of an unknown system is approximated by an ultra-local model constructed by using the input-output data. Based on the obtained ultra-local model, a sliding mode controller is designed to stabilize the unknown system. The proposed method is verified with simulations and experiments on a two-wheeled vehicle.
URI: http://ethesys.lib.ntou.edu.tw/cgi-bin/gs32/gsweb.cgi?o=dstdcdr&s=G0010553013.id
http://ntour.ntou.edu.tw:8080/ir/handle/987654321/49833
Appears in Collections:[電機工程學系] 博碩士論文

Files in This Item:

File SizeFormat


All items in NTOUR are protected by copyright, with all rights reserved.

 


著作權政策宣告: 本網站之內容為國立臺灣海洋大學所收錄之機構典藏,無償提供學術研究與公眾教育等公益性使用,請合理使用本網站之內容,以尊重著作權人之權益。
網站維護: 海大圖資處 圖書系統組
DSpace Software Copyright © 2002-2004  MIT &  Hewlett-Packard  /   Enhanced by   NTU Library IR team Copyright ©   - Feedback