Stabilization of uncertain time-varying nonlinear systems with time delay based on feedback linearization = 궤환 선형화 기법에 근거한 시간 지연을 갖는 불확실한 시변 비선형 시스템의 안정화

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Generally, nonlinear systems have uncertainties and a time delay. Sometimes, uncertainties and a time delay have an effect on stability of nonlinear systems. Additionally, dynamics of systems are time-varying. Therefore, our objective is to stabilize time-varying nonlinear systems to compensate uncertainties and a time delay. Firstly, we compensate the uncertainties of the system without a time delay. Before designing controllers, we use feedback linearization method to transform the system. When the bounds of the uncertainties are known, we design the controller to compensate the uncertainties based on Lyapunov redesign technique. When the bounds of the uncertainties are not known, we design the controller to estimate the bounds of the uncertainties and compensate them by using an adaptive law. The results are extended to time-varying case by using time-varying diffeomorphism. When there is a time delay at the input, we transform the system into the delay-free system before designing controllers. When the bounds of the uncertainties are known, we design the controller to compensate the uncertainties based on Lyapunov redesign technique. When the bounds of the uncertainties are not known, we design the controller to estimate the bounds of the uncertainties and compensate them by using an adaptive law. The results are extended to time-varying case by using time-varying diffeomorphism. We prove our controllers guarantee the asymptotical stability of the systems. Our results are verified by simulation and compared with other results.
Advisors
Lim, Jong-Taeresearcher임종태researcher
Description
한국과학기술원 : 전기 및 전자공학과,
Publisher
한국과학기술원
Issue Date
2011
Identifier
467865/325007  / 020093215
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 전기 및 전자공학과, 2011.2, [ v, 65 p. ]

Keywords

Time-varying; Time Delay; Uncertainty; Feedback Linearization; Stabilization; 안정화; 시변; 시간 지연; 불확정성; 궤환 선형화

URI
http://hdl.handle.net/10203/36769
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=467865&flag=dissertation
Appears in Collection
EE-Theses_Master(석사논문)
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