臺灣博碩士論文加值系統

對於包含不確定項之非線性離散時間多輸入多輸出系統，本篇論文提出了一個積分型滑動模式控制方法來處理系統中的控制問題。首先一個強健觀察器被用來估計受控系統的未知狀態，其次基於積分型滑動面，本論文所提出的控制器讓系統特性可以滿足到達與滑動條件，並加入適應更新法則來估測未知不確定項的上界。藉由李亞普諾夫穩定分析方法，所提出的積分滑動模式控制不僅證實了閉迴路系統的強健穩定性，同時實現精確的估計。提出之方法的可行性將會在本篇論文中以電腦模擬的方式來驗證。

For a class of uncertain nonlinear discrete-time multi-input-multi-output (MIMO) systems, this thesis presents an integral-type sliding mode control (ISMC) method to deal with the control problem. First, a robust observer is used to estimate unknown states of the controlled system. Next, the reaching condition and the sliding condition of the system behavior can be satisfied by the proposed control law based on the integral-type sliding surface. Moreover, some adaptive laws are introduced to estimate the upper bounds of the unknown uncertainties. By the Lyapunov theory, the presented integral sliding mode control not only guarantees the robust stability of the overall closed-loop system, but also achieves the precision estimation. The feasibility of the proposed method will be confirmed by computer simulation in this thesis.

ACKNOWLEDGEMENTS I
ABSTRACT (IN ENGLISH) II
ABSTRACT (IN CHINESE) III
TABLE OF CONTENTS IV
LIST OF FIGURES V
CHAPTER1 INTRODUCTION 1
CHAPTER2 SYSTEM DESCRIPTION AND PRELIMINARIES 3
2.1 Problem Statement 3
2.2 Description of Fuzzy Logic Systems 5
CHAPTER3 OBSERVER-BASED ROBUST ADAPTIVE FUZZY CONTROLLERDESIGN AND STABILITY ANALYSIS 8
3.1 Observer-Based Adaptive Fuzzy Compensator Design 8
3.2 Observer-Based Integral Sliding Mode Controller Design 27
CHAPTER4 RESULTS OF SIMULATION 31
CHAPTER5 CONCLUSION 40
REFERENCES 41

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