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    Please use this identifier to cite or link to this item: https://ir.lib.ksu.edu.tw/handle/987654321/7004

    Title: 以電驅動的約束機械系統之強健追蹤控制設計:藉由類神經網路及模糊邏輯步驟(1/2)
    Robust tracking control design for electr ically dr iven constrained mechanical systems via neural-network and fuzzy-logic approaches(1/2)
    Authors: 張永昌
    Keywords: 機電整合系統
    Electromechanical system
    Trajectory tracking contorl
    Hybrid adaptive/robust tracking controller
    Neural network system
    Fuzzy logic system
    Date: 2003-07-31
    Issue Date: 2009-12-31 16:49:08 (UTC+8)
    Abstract: 本計畫探討及解決以電驅動的固執及非固執約束機械系統在設備不確定及外在雜訊干擾的情況下之強健追蹤控制設計問題。本計畫提出一個均一且有系統的步驟來推導控制器,分為兩年兩階段執行,由簡而繁,逐年探討所列述之問題。在第一年,吾人主要考慮固執及非固執約束之機械系統。忽略電樞動態,並假設速度訊號是不可以被量測並利用於控制器之設計。設計以類神經網路(或以模糊邏輯)為基礎且無需速度回授的適應強健追蹤控制器,使得整個閉迴路系統達到預先指定之追蹤性能指標。
    Robust tracking control designs are proposed in this project for both electrically driven holonomic and nonholonomic constrained mechanical systems with plant uncertainties and external disturbances. A unified and systematic procedure is employed to derive the controllers. This project will be carried out by two years. In the first year, consider the holonomic and nonholonomic constrained mechanical systems without incorporating the actuator dynamics. Assume the velocity measurements are not available for feedback. Develop an adaptive/robust neural network-based (or fuzzy-based) tracking controller without velocity measurements such that the closed-loop system achieves the desired tracking performance.
    Appears in Collections:[電機工程系所] 研究計畫

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