首頁 > 網路資源 > 大同大學數位論文系統

Title page for etd-0828112-131046


URN etd-0828112-131046 Statistics This thesis had been viewed 792 times. Download 0 times.
Author Chih-Ying Chuang
Author's Email Address No Public.
Department Electrical Engineering
Year 2011 Semester 2
Degree Ph.D. Type of Document Doctoral Dissertation
Language English Page Count 105
Title STUDY OF PARAMETRIC CEREBELLAR MODEL ARTICULATION CONTROLLER
Keyword
  • chaotic system
  • CMAC
  • Parametric CMAC
  • SMC
  • SMC
  • Parametric CMAC
  • CMAC
  • chaotic system
  • Abstract This dissertation implements the study of the parametric cerebellar model articulation controller (P-CMAC) and proposes the robust P-CMAC (RP-CMAC), the RP-CMAC with self-generating design (RPCSGD), and the robust self-organizing P-CMAC (RSOP-CMAC). All of the controllers consist of two components that one is utilized to approximate the ideal controller, where it is different in these controllers, and the other, which is the robust controller, is designed to achieve a specified H-infinity robust tracking performance of the system. In addition, the corresponding memory size of the RPCSGD and the RSOP-CMAC can be suitably constructed via the dynamic memory planning. Thus, the useless or untrained memories will not take possession of the space. Besides, the concept of sliding-mode control (SMC) is adopted so that these controllers have more robustness against the approximated error and uncertainties. The stability of the system can be surely guaranteed due to the derivations of the adaptive laws of these controllers based on the Lyapunov function. Finally, these controllers are applied to the one-link rigid robotic manipulator, the second-order chaotic system, and the Chua’s chaotic circuit. The tracking performance and effectiveness of these controllers are verified by simulations and comparisons of some other controllers.
    Advisor Committee
  • Hung-Ching Lu - advisor
  • Chih-Lyang Hwang - co-chair
  • Chung-Chun Kung - co-chair
  • Ming-Feng Yeh - co-chair
  • Tzuu-Hseng S. Li - co-chair
  • Files indicate in-campus access at 5 years and off-campus not accessible
    Date of Defense 2012-07-27 Date of Submission 2012-08-29


    Browse | Search All Available ETDs