中文合格證明
目錄
摘要
第一章 概述
第二章 基本數學背景
第三章 可變結構之輸出追蹤控制
第四章 多餘輸入系統之輸出追蹤
第五章 多自由度機器手臂之應用
第六章 結論及未來研究方向
CONTENTS
ABSTRACT
ACKNOWLEDGMENTS
LIST OF FIGURES
CHAPTER 1 INTRODUCTION
1.1 Overview of Previous Work an Motivation
1.2 Contributions of this Dissertation
1.3 Organization of theis Dissertation
CHAPTER 2 MATHEMATICAL PRELIMINARIES
2.1 Variable Structure Control of Affine Nonlinear Sytems
2.2 Structure Algorithm
2.3 Multivarable Systems with Plant Uncertainties
CHAPTER 3 OUTPUT TRACKING DESIGN VLA VARLABLE STRUC-TURE CONTROL
3.1 Sliding Mode Design
3.2 Switching Controller Design
3.3 Example and Simulation Results
CHAPTER 4 OUTPUT TRACKING DESIGN FOR SYSTEMS WITH RE-DUNDANT INPUTS
4.1 Output Tracking with Optimal Configuration
4.2 Switching Controller Design
4.3 Example and Simulation Results
CHAPTER 5 APPLICATION TO REDUNDANT MANIPULATORS
5.1 Control Objectives of Redundant Manipulators
5.2 Problem Formulation
5.3 Design Scheme via Variable Sturcture Contuol
5.4 An Illustuative Example
CHAPTER 6 CONCLUSIONS AND SUGGESTIONS FOR FUTURE RE-SEARCH
BIBLIOGRAPHY
合格證明