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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
Contributors: NTOU:Department of Electrical Engineering
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.
Appears in Collections:[Department of Electrical Engineering] Dissertations and Theses

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