臺灣博碩士論文加值系統

機械手臂的動態往往包含各種不確定的元素，如未知的系統參數，或系統內部動態的不確定性，及外部干擾等，這些因素使得系統的數學模型無法明確地被建立，並且有可能使系統的輸出響應變差，或造成不穩定的現象。我們都知道 控制理論具有將系統的外部輸入對受控系統的受控輸出的影響降到最低的優點；因此本文提出了 -滑動綜合控制器，來針對具有不確定項及外部干擾的機械手臂，來設計控制器，我們利用滑動模式來控制系統，將滑動面的控制結構設定為各個機械手臂關節的誤差函數的微分項、比例項和積分項的總和；再利用回授線性化過後所得的線性誤差狀態方程式，化為標準的 控制問題；利用 控制理論來求解系統最佳的控制增益參數；如果閉迴路系統中未完全消除的不確定性參數，滿足本文所提出Lyapunov不等式，則系統為漸進穩定。
最後，本文針對非線性的機械手臂系統，做為模擬控制的對象，並用不同的質量負載來驗證所設計的 -滑動控制器的可行性。經由模擬的結果顯示，本文所設計的控制器在系統具有不確定性及外擾的存在下仍然保有良好的追蹤性能。

The dynamics of robot manipulators often contain various uncertainties, such as the unknown system parameters, the un-modeled dynamics and the external disturbances, which may make the proposed controller hard to achieve the desired performance. In this paper, the composite controller of the H∞-control and the sliding-mode control laws is proposed. The nonlinear controller of robots is formulated by utilizing the feedback linearization technique while the sliding surfaces in the control structure are set to be the summation of the derivation, the proportion, and the integration of the tracking errors in each generalized robot coordinate with respective adjustable controller gain parameters. Then these controller gain parameters can be obtained by the H∞-control methodology. If the remaining closed-loop un-modeled uncertainties satisfy the inequality derived from the Lyapunov stability theorem proposed in this paper, the proposed H∞-sliding controller will be able to offer the demanded performance for uncertain robot systems.
A three-degree of freedom robot manipulator is given as an example in this research to demonstrate the design methodology of the proposed H∞-sliding mode controller. The simulation results show that the tracking errors in every uncertain robot coordinate can be minimized by benefiting from the optimal control gain parameters obtained from H∞-sliding mode control methodology.

目錄
中文摘要 I
英文延伸摘要 II
誌謝 V
目錄 VI
表目錄 IX
圖目錄 X
第一章 緒論 1
1.1 研究動機與目的 1
1.2 文獻回顧 2
1.3 論文架構 4
第二章 滑動控制理論 6
2.1 滑動控制理論 6
2.2 控制系統描述 7
2.3 滑動控制器的設計 12
2.4 滑動控制器的強健性 14
第三章 H∞強健控制理論 18
3.1 前言 18
3.2 範數(Norm)定義 18
3.2.1 以範數度量訊號的大小 19
3.2.2 由轉移函數定義Norm 19
3.2.3 以範數度量系統的大小 20
3.3 H∞基本理論 21
3.4 變異漸進法 22
3.4.1 擴增系統矩陣 22
3.4.2 狀態回授控制器 24
3.4.3 狀態觀測器 26
3.5 求解H∞控制問題的流程 28
第四章 機械臂之H∞-滑動控制器設計 29
4.1系統描述 29
4.2 H∞-滑動控制器設計 30
4.3控制器設計步驟與流程圖 51
第五章 電腦模擬 53
5.1系統描述 53
5.2 模擬與討論 57
5.3三自由度之機械手臂系統描述 78
5.4 模擬與討論 82
第六章 結論 108
參考文獻 109

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