本論文提出以設計平滑輸入的滑動模式控制來改善令人詬病切跳的缺點。傳統的滑動模式控制是利用不連續的輸入在指定好的路徑下驅使系統狀態的軌跡由初始值往原點接近。然而，不連續輸入所產生的切跳現象會造成硬體實現上的問題，因此，吾人使用了幾個方法來改善這個切跳現象，包括傳統的邊界層技術、模糊控制，以及連續滑動模式控制。另外，也使用根軌跡的方法來設計滑動函數，其目的是做極點配置以增強系統的性能。藉由電腦模擬，驗證所提出控制的方法可以確保系統在有參數擾動及外來干擾下的穩定性。

In this dissertation, the sliding mode control with smooth control law is developed. Classical sliding mode control uses a discontinuous control action to drive the state from an arbitrary initial state to the origin along a user-specified path and exhibits robustness to parameter uncertainties and external disturbances. However, the chattering due to the discontinuity control law is undesirable in the most applications. Several methods to eliminate the input chattering are proposed which include the traditional boundary layer method, fuzzy logic control, and continuous output-sliding control approach. In addition, using the root locus technique in the design of sliding function makes possible the complete pole assignment and improves the control system performance. Through the computer simulation, it is verified that the proposed methods assure the system performance and the robustness in the presence of parameter uncertainties and external disturbances.

書名頁 i
推薦函 ii
論文口試委員審定書 iii
授權書 iv
中文摘要 vii
英文摘要 viii
誌謝 xi
Contents x
List of Tables xii
List of Figures xiii
Chapter 1 Introduction 1
1.1 Motivation 1
1.2 The fundamental of output-sliding control 2
1.3 The fundamental of fuzzy logic control 6
1.4 Dissertation outline 7
Chapter 2 Output-sliding control for nonlinear time-varying systems 10
2.1 Overview 10
2.2 Control methodology 11
2.2.1 Definition of sliding function 11
2.2.2 Determination of the relative degree 12
2.2.3 Formulation of the control law 13
2.2.4 Proof of the sliding condition 15
2.3 Manipulator position control 16
2.4 Summary 21
Chapter 3 Fuzzy output-sliding control via pole assignment 30
3.1 Overview 30
3.2 Control methodology 31
3.2.1 Sliding function definition 31
3.2.2 Control law formulation 32
3.2.3 Fuzzy-logic-based switching 34
3.2.4 Assignment of the closed-loop poles 37
3.2.5 Assignment of the conventional SMC poles 39
3.2.6 Formulation of the controller gain 41
3.3 Numerical results 43
3.3.1 Diving system control 43
3.3.2 Steering system control 46
3.4 Summary 49
Chapter 4 Robust continuous output-sliding control 63
4.1 Overview 63
4.2 Control methodology 63
4.2.1 Definition of sliding function 64
4.2.2 Formulation of the control law 65
4.3 Numerical results 69
4.4 Summary 71
Chapter 5 Conclusions 80
References 82

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