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The defense date of the thesis is 2005-08-11
The current date is 2019-04-21
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URN etd-0811105-141619 Statistics This thesis had been viewed 2247 times. Download 10 times. Author Ching-Lung Cheng Author's Email Address email@example.com Department Electrical Engineering Year 2004 Semester 2 Degree Master Type of Document Master's Thesis Language English Page Count 77 Title HYBRID ADAPTIVE CMAC SLIDING MODE CONTROLLER DESIGN FOR UNKNOWN NONLINEAR SYSTEM Keyword supervisory controller sliding mode control CMAC CMAC sliding mode control supervisory controller Abstract ABSTRACT
In this thesis, a new hybrid adaptive cerebeller model articulation controller (CMAC) sliding mode control system is developed for a class of unknown nonlinear systems. The hybrid adaptive CMAC sliding mode controller (HACSMC) uses the direct and indirect adaptive CMAC controllers to perform the equivalent control of sliding mode control (SMC). A weighting factor is adopted to sum together the control efforts from the direct and indirect adaptive CMAC controller. Two types of methods, sign function switching controller and CMAC switching controller are proposed to design the switching control law of SMC. In sign function switching controller, we use an estimation law to estimate the upper bound of uncertainty, and combine with sign function to design the switching control law of SMC. In CMAC switching controller, a CMAC network is employed to perform the switching control law of SMC. Furthermore, a supervisory controller is appended to the HACSMC to guarantee the states staying in the boundary layer. Therefore, if HACSMC can maintain the states within the boundary layer, supervisory controller will be idle. Otherwise, the supervisory controller starts working to pull the states back to the boundary layer. In addition, the adaptive laws of the control system are derived in the sense of Lyapunov theorem, so that the stability of the system can be guaranteed. Finally, the proposed control system is applied to inverted pendulum system and Chua’s chaotic circuit. The simulation results show that the HACSMC can not only make control system have good tracking performance and strong robustness but also have more flexibility during the design process.
Advisor Committee Hung-Ching Lu - advisor
Hung, Ta-Hsiung - co-chair
Ming-Feng Yeh - co-chair
Files Date of Defense 2005-07-15 Date of Submission 2005-08-11