We propose a novel approach of radial basis function neural network adaptive backstepping control for MIMO affine and nonaffine nonlinear systems in block-triangular form. The proposed controller possesses the advantages of avoiding the higher-order derivative effect on the approximation model and eliminating the need to compute complicated derivatives. The control scheme incorporates the adaptive neural backstepping design technique with a first-order filter at each step of the backstepping design. The control scheme for affine nonlinear systems in block-triangular form is proposed in chapter 3. It consists of the backstepping design which achieves the desired control behavior, the RBF neural network which is utilized to estimate the unknown system dynamics, the adaptive control scheme which is utilized to adjust the controller parameters, and a first-order filter at each step of the backstepping design which is chosen to avoid producing higher-order derivative terms.
The control scheme for nonaffine nonlinear systems in block-triangular form is proposed in chapter 4. The control scheme is the same as chapter 3. But first, we utilize the mean value theorem to linearize the derivative of the tracking error, then use the same control scheme to control the nonaffine nonlinear systems. We also use the Lyapunov function to prove that all the signals in the closed-loop system remain bound. Finally, simulation results have shown that the output tracking error between the plant output and the desired reference output can be made arbitrarily small.
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自 傳
我是郭名峰，在師大應電所主修智慧型控制系統，專長是針對不同的受控體 設計出理想的控制器，還有運用 CCD 來量測距離的相關研究,，在完成這先 研究的過程也學習了 MATLAB、VERILOG 及 FPGA 板的相關技能。研究所 的階段,有幸在王偉彥老師的指導下針對控制領域做更深入的研究，並且修 習了許多控制領域相關的課程，其中最令我更感興趣的是類神經網路與模糊 理論這兩門課，所以在接下來的研究也就朝這方面發展，而我選擇的主題便 是結合類神經網路與適應性控制的控制器設計，有別於以往的論文做單輸入 單輸出系統的控制器設計，我將主要的研究目標放在多輸入多輸出系統的控 制器設計，並力求其效能可以跟單輸入單輸出ㄧ樣好。很幸運的，在這段期 間能有初步的成果，並且也發表兩篇相關的論文。
學 術 成 就
1. Wei-Yen Wang, Chin-Ming Hong, Ming-Feng Kuo, Yih-Guang Leu ” RBF Neural Network Adaptive Backstepping Controllers for MIMO Nonaffine Nonlinear Systems”
2009 IEEE INTERNATIONAL CONFERENCE ONSystems, Man, and Cybernetics.
2. Wei-Yen Wang, Chin-Ming Hong, Ming-Feng Kuo, Yih-Guang Leu ” RBF Neural Network Adaptive Backstepping Controllers for MIMO Nonlinear Systems”
International Journal of Intelligent Systems Science and Technology
3. 主持人：王偉彥，「自主式高安全車輛設計-子計畫三：使用光電訊號良策方 法之以CCD攝影機為基礎的夜間車輛偵測系統」，行政院國家科學委員會專 題研究計畫。