臺灣博碩士論文加值系統

這篇論文考慮針對具有時間延遲及飽和輸入的不確定欠驅動系統之觀察器為基礎的階層滑動模式控制問題。 基於滑動模式控制技術和階層設計的構想，一個適應模糊階層滑動模式控制器被設計來針對不確定非線性系統藉由使用模糊邏輯系統去近似不確定的函數。除此之外，輸入飽和是其中一種最重要的輸入限制，常出現在許多工業控制的系統。藉由選出一個適當的李亞普諾夫-克拉索夫斯基函數，所提出的控制器被設計來展現不只所有的閉迴路訊號在系統中保證式均勻最終有界的，且也可以達到好的追蹤效能。最後，一個實際例子的一些電腦模擬結果被舉例來證明所提出方法的有效性。

This thesis considers the problem of observer-based hierarchical sliding mode control approach for uncertain underactuated systems with time delay and input saturation in strict-feedback form. Based on sliding mode control technique and the concept of hierarchical design, an adaptive fuzzy hierarchical sliding mode controller is designed for the uncertain nonlinear system by using fuzzy logic systems to approximate the uncertain functions. Additionally, input saturation which is one of the most important input constraints usually appear in many industrial control systems. By choosing an appropriate Lyapunov–Krasovskii function, the proposed controller is designed to demonstrate that all the signals in the closed-loop system can not only guarantee uniformly ultimately bounded, but also achieve good tracking performance. Finally, some computer simulation results of a practical example are illustrated to verify the effectiveness of the proposed approach.

AcknowledgmentsI
English AbstractII
Chinese AbstractIII
Table of ContentsIV
List of FiguresV
Chapter
I. Introduction1
II. Problem Statement and Preliminaries4
2.1 System Description4
2.2 Description of Fuzzy Logic Systems7
III. Controller Design and Stability Analysis14
IV. Results of Simulation25
V. Conclusions37
References38

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