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研究生:胡政宏
研究生(外文):Hu, Jeng-Hung
論文名稱:具非匹配未知項系統之多重滑動面適應控制器設計
論文名稱(外文):Adaptive Multiple Surface sliding Control of Non-autonomous MIMO Systems With Mis-matched Uncertainties
指導教授:黃安橋
指導教授(外文):Huang, An-Chyau
學位類別:碩士
校院名稱:國立臺灣科技大學
系所名稱:機械工程系
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2002
畢業學年度:90
語文別:中文
論文頁數:78
中文關鍵詞:多重面滑動控制非匹配式不確定性
外文關鍵詞:multiple-surface sliding controlmismatched uncertainties
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本文針對具有未知邊界之非匹配式不確定性的具相同和相異階數子系統提
出一個滑動模式控制器,使用多重面滑動控制的概念來解決非匹配式不確定性的問題,且引用函數近似法把系統不確定性轉換為有限的正規直交函數之線性組
合,因此可以使用Lyapunov方法設計一個適應性控制器,使得輸出誤差收斂並且所有訊號都有界。由電腦模擬的結果顯示,本文所提出之控制法則能有良好的工作性能表現。

In this paper, we propose a sliding mode based controller for a class of MIMO non-autonomous systems --- same-size and different-size blocks with mismatched uncertainties whose variation bounds are not given. The concept of multiple-surface sliding control is used to deal with the mismatched uncertainty problem, and the function approximation technique is introduce to transform the uncertainties into a finite combination of orthonormal basis functions. An adaptive controller can thus be designed using the Lyapunov approach to achieve output error convergence and boundedness of all signals. Computer simulations are performed to show efficacy of
the proposed schemes.

中文摘要…………………………………………………………………………………..Ⅰ
英文摘要…………………………………………………………………………………..Ⅱ
誌謝………………………………………………………………………………………..Ⅲ
目錄………………………………………………………………………………………..Ⅳ
圖表索引…………………………………………………………………………………..Ⅴ
第一章 緒論………………………………………………………………………………1
第二章 正規化函數近似法………………………………………………………………4
2.1 正交函數…………………………………………………………………………4
2.2 常見的正交函數…………………………………………………………………6
2.3 函數近似器……………………………………………………………………..11
第三章 具相同階數子系統之適應多重面滑控制……………………………………..13
3.1 控制器設計步驟………………………………………………………………..13
3.2 範例:相同階數子系統…………………………………………….…………...21
第四章 具相異階數子系統之適應多重面滑控制……………………………………..40
4.1 控制器設計步驟……………..…………………………………………………40
4.2 範例:相異階數子系統………………………...……………………………….50
第五章 結論……………………………………………………………………………..69
附錄A……………………………………………………………………………………..70
附錄B……………………………………………………………………………………..73
參考文獻…………………………………………………………………………………..77

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郭有順, 不確定時變系統之適應控制研究, 國立台灣科技大學機械工程技術研究所, 博士學位論文, 2002.

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