Robust backstepping control using linear observer with switching term = 스위칭텀이 추가된 선형 관측기를 이용한 강인 백스테핑 제어

In this thesis, a new controller and a new observer are proposed the robust backstepping control of a class of nonlinear multiple-input multiple-output (MIMO) systems which can be converted to a strict feedback form. The proposed robust backstepping control using linear observer with switching term follows a systematic procedure for the design of control laws and observer, and also uses time delay estimation (TDE) to estimate the uncertainties such as parameter variations, unknown disturbances, and unmodeled dynamics, etc. The simulation results show that the control scheme works well with uncertainties. The controller is experimentally verified on a single-link flexible joint robot to show the effectiveness of the proposed controller and observer in the complicate systems with uncertainties.
Advisors
Chang, Pyung-Hunresearcher장평훈researcher
Publisher
한국과학기술원
Issue Date
2009
Identifier
308522/325007  / 020073191
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 기계공학전공, 2009.2, [ ii, 65 p. ]

Keywords

backstepping; observer; time delay estimation; 백스테핑; 관측기; 시간지연추정; backstepping; observer; time delay estimation; 백스테핑; 관측기; 시간지연추정

URI
http://hdl.handle.net/10203/45688
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=308522&flag=t
Appears in Collection
ME-Theses_Master(석사논문)
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