臺灣博碩士論文加值系統

在設計控制器時，由於有許多不確定性與外擾會對響應造成影響，因此控制器需具有極佳的強健性，方能達成想要的控制目標。
　　順滑模態控制(sliding mode control)具有極佳的強健性且應用容易，故被廣泛的應用在控制領域。而高階順滑模態控制(high order sliding mode)則可視為是傳統順滑模態控制的延伸，它同樣也具有良好的強健性，更重要的是它需要的系統狀態較傳統的順滑控制少，所以高階順滑控制具有較高的實用性。
　　本文主要針對一具有外擾的離散系統探討。將傳統一階離散順滑控制加以延伸，提出了一個二階順滑控制方法。並用Lyapunov穩定準則證明在有限外擾的狀況下，狀態會進入二階順滑面，即 與 進入邊界層中。由研究結果得知其狀態響應皆符合預期，且可達成控制的目標，這亦顯示所提出的離散二階順滑控制方法的適用性。

To achieve the required system performance, the control system should robust to system uncertainties and disturbances. The sliding mode controller can be designed systematically with robustness to matched uncertainties. Therefore, it has been widely applied to many theorical studies and industrial applications.
The high order sliding mode controller can be considered as an extension of conversional sliding mode controller with less state information required and can suppress or reduce chattering due to the controller output. This make the high-order sliding mode controller more realizable then the conversional sliding mode controller.
In this thesis, discrete systems with disturbances are considered. An approach to design 2-order discrete sliding mode controller is proposed. The result can be extended to the high order cases. Using the Lyapunov stability criterion, the resulting system is guaranteed to stay around the desired sliding surface with a specific boundary. The performance of the proposed control system can be achieve, the design objective which indicate its feasibility of the proposed discrete high-order sliding mode controller.

目錄
中文摘要………………………………………………………………….I
英文摘要………………………………………………………………...II
目錄………………………………………….………………………….III
表目錄…………………………………………………………………...V
圖目錄…………………………………………………………………..VI
第一章緒論……………………………………………………………1
1.1前言…………………………………………………………………1
1.2文獻回顧……………………………………………………………1
1.3本文架構……………………………………………………………2
第二章連續高階順滑控制……………………………………………4
2.1 高階順滑控制原理………………………………………………..4
2.2高階順滑控制方法簡介……………………………………………7
第三章離散高階順滑控制…………………………………………..11
3.1 離散高階順滑控制設計……………………………………….…11
3.2 具外擾的離散化二階順滑控制………………………………….15
3.3離散化有限時間順滑控制……………………………………...17
3.4具觀察器之高階順滑控制架構………………………………...20
第四章模擬結果與分析……………………………………………..23
4.1 具外擾離散系統之數值模擬……………………………………23
4.2 高階離散化有限時間順滑控制之數值模擬……………………26
4.3 離散化高階順滑控制觀測器之數值模擬………………………28
第五章結論…………………………………………………………..46
5.1 結論………………………………………………………………46
5.2 建議未來工作……………………………………………………46
參考文獻………………………………………………………………..47
自述……………………………………………………………………..49
著作權聲明

[1] Bartolini G., Ferrara A. and Usai E., 1997, Output tracking of uncertain nonlinear second-order systems, Automatica, vol. 33, No. 12, pp2203-2212.
[2] Bartolini G., A. Pisano and Usai E., 1998a, Digital second order sliding mode control of SISO uncertain nonlinear systems, proceedings of the American control conference, pp119-124.
[3] Bartolini G., Ferrara A. and Usai E., 1998b, Chattering avoidance by second order mode control, IEEE Trans. Automat. Contr. , vol. 43, pp241-246
[4] Bartolini G., Ferrara A., Levant A. and Usai E., 1999a, On second order sliding mode controllers, Variable structure systems, sliding mode and nonlinear control (Lecture notes in control and information sciences; 247), Springer-Verlag, pp329-350
[5] Bartolini G., Pisano A. and Usai E., 1999b, Variable structure control of nonlinear sampled data systems by second order sliding modes, sliding mode and nonlinear control (Lecture notes in control and information sciences; 247), Springer-Verlag, pp43-67
[6] Bartolini G., Ferrara F., Usai E. and Utkin V.I., 2000a, On multi-input chattering-free second-order sliding mode control, IEEE trans. on auto. contr., vol. 45, No. 9, pp1711-1717
[7] Bartolini G. and Punta E., 2000b, Second order sliding mode control of systems with nonlinear friction, proceedings of 39th IEEE conference on decision and control, pp2192-2197
[8] Bartolini G., Pisano A. and Usai E., 2002, Second-order sliding-mode control of container cranes, Automatica, vol. 38, pp1783-1790
[9] Boukhobza T. and Barbot J-P., 1998, High order sliding modes observer, proceedings of 37th IEEE conference on decision & control, pp1912-1917
[10] Emelyanov S.V., Korovin S.V. and Levantovsky L.V., 1986a, Higher-order sliding modes in binary control systems, Soviet Physics, Doklady, vol. 31, No. 4, pp291-293
[11] Emelyanov S.V., Korovin S.V. and Levantovsky L.V., 1986b, Second order sliding modes in controlling uncertain systems, Soviet journal of computer and system science, vol. 24, No. 4, pp63-68
[12] Feng Y., Yu X.H. and Man Z.H., Non-singular terminal sliding mode control of rigid manipulators, Automatica, vol.38 ,pp2159-2167
[13] Fridman L. and Levant A., 1996, Sliding modes of higher order as a natural phenomenon in control theory, Robust control via Variable Structure & Lyapunov Technique (Lecture notes in control and information science; 217), Springer-Verlag, pp107-133
[14] Levant A., Sliding order and sliding accuracy in sliding mode control, 1993, Int. J. Control, vol. 58, No. 6, pp1247-1263
[15] Li C.K. and Chao H.K., 2002, Output tracking of uncertain robot systems via high order sliding mode technique, Electronics letters, vol. 38, No. 10, pp487-489
[16] Park K.B. and Tsuji T., 1999, Terminal sliding mode control of second-order nonlinear uncertain systems, International journal of robust and nonlinear control, vol. 9, pp769-780