
系統識別號 
U00261601202017083300 
論文名稱(中文) 
基於滑模控制之強健追蹤器設計 
論文名稱(英文) 
Sliding Mode ControlBased Robust Tracker Design 
校院名稱 
成功大學 
系所名稱(中) 
電機工程學系 
系所名稱(英) 
Department of Electrical Engineering 
學年度 
108 
學期 
1 
出版年 
109 
研究生(中文) 
方俊修 
研究生(英文) 
JiunnShiou Fang 
學號 
N28011093 
學位類別 
博士 
語文別 
英文 
論文頁數 
147頁 
口試委員 
指導教授蔡聖鴻 口試委員莊智清 口試委員鄭銘揚 口試委員王振興 口試委員李祖聖 口試委員顏錦柱 口試委員姚凱超 口試委員蘇德仁 口試委員連長華

中文關鍵字 
滑模控制
強健控制
適應性控制
追蹤控制器
輸入非線性
輸入輸出直接傳輸項

英文關鍵字 
Sliding mode control
robust control
adaptive control
tracking control
input nonlinearity
inputoutput direct feedthrough term

學科別分類 

中文摘要 
本論文旨在發展連續/離散之新型強健滑模控制器設計演算法。本論文研究主題包括: 一、提出針對一類非線性系統並具有未知輸入非線性與擾動的強健自適應滑模控制器/追蹤器之設計方法。為了避免控制輸入在傳統的滑模控制下會產生高頻的抖動現象，本論文詳細地討論利用連續函數取代傳統符號( )函數來實現控制器設計，藉此抖動的缺點可以被克服。此外，所提出的自適應法則為低階且不具有高估的現象。二、針對資料採樣系統方面，提出一新穎離散滑模控制方法，並且保證在採樣時間下滑模面存在。本論文詳細地討論當所提出的滑模軌跡抵達滑模面後，干擾對於控制系統的影響。在具有匹配的干擾下，其對於控制系統的影響得以完全地被抑制；在具有非匹配的干擾下，雖然其對於控制系統的影響依然存在，但控制系統的響應會被抑制在一定的範圍之內，其範圍透過本論文所提之演算方法是可以被估測的。三、針對滑模控制的數位再設計方面，本論文提出一新穎的分析與設計方法。透過尤拉(Euler)近似法可以將已設計好的連續滑模控制器進行數位再設計，在採樣點保證離散滑模面的存在。因此，所提出的滑模控制之數位再設計方法，可以保留原本已設計好的連續滑模控制之性能，且具有良好的擾動抑制能力。最後，透過數值的模擬證明所提方法的有效性與強健性。

英文摘要 
This dissertation presents new robust continuous/discrete sliding mode controller design algorithms. This includes the following research topics. First, the novel robust SMCbased adaptive chatteringfree controller/tracker design algorithms for a class of continuoustime nonlinear systems with unknown input nonlinearity and perturbations are developed. To avoid the unexpected chattering phenomenon in the traditional SMC, the smooth/continuous function is introduced to replace the discontinuous function with a detailed discussion on the proposed SMCbased controller design directly. Furthermore, the proposed adaptive laws are in low order and without overestimation. Second, for the discretetime SMC, a new control strategy is developed for the stability of generalized continuoustime controlled systems. Since the controlled system states are operated in the prespecified sliding manifold, the bounds of responses of controlled systems with external matched and mismatched disturbances are discussed. Third, a new digitalredesignbased discretetime SMC approach using Euler’s approximation method is developed to obtain a discretetime SMCbased tracker such that the performance can also be satisfied as the continuoustime SMCbased tracker as possible. Finally, the corresponding numerical results show the effectiveness and robustness of the proposed control methods.

論文目次 
摘 要 i
Abstract ii
Acknowledgement iii
Contents iv
List of Figures vii
Symbols and Abbreviations xii
Capter 1 Introduction 1
1.1 Literature review 2
1.1.1 Continuoustime robust SMCbased adaptive controller/tracker 2
1.1.2 Discretetime SMCbased controller/tracker 8
1.2 Motivation of dissertation 11
1.3 Contributions of dissertation 12
1.4 Organization of dissertation 13
Chapter 2 A Robust SMCBased Adaptive ChatteringFree Controller Design for ContinuousTime Chaotic Systems with Unknown Input Nonlinearity 14
2.1 System description and problem formulation 15
2.2 Control design algorithm 18
2.3 Numerical simulations 23
2.4 Summary 35
Chapter 3 A Robust SMCBased Adaptive ChatteringFree RBFNN Tracker Design for a Class of ContinuousTime Nonlinear Systems with Unknown Input Nonlinearity and Uncertainties 36
3.1 System description and problem formulation 37
3.2 Robust tracker design 38
3.3 Numerical simulations 47
3.4 Summary 60
Chapter 4 A Robust SMCBased Adaptive ChatteringFree HInfinity Model Reference Tracking Controller Design for a Class of ContinuousTime Nonlinear Systems with Unknown Input Nonlinearity, Uncertainties and Mismatched Disturbances 61
4.1 System description and problem formulation 62
4.2 Robust tracker design 64
4.3 Numerical simulations 73
4.4 Summary 82
Chapter 5 A New DiscreteTime SMCBased Regulator Design for SampledData Systems 83
5.1 System description and problem formulation 84
5.2 Discretetime SMCbased regulator 86
5.3 Numerical simulations 92
5.4 Summary 102
Chapter 6 A Novel SMCBased DigitalRedesign LQDT Design for SampledData Systems with Uncertainties and Direct FeedThrough Term 103
6.1 Tracker design based on the finalvalue theorem 104
6.2 Derivation of continuoustime robust SMCbased tracker 107
6.3 Novel SMCbased digitalredesign LQDT 110
6.4 Numerical simulations 116
6.5 Summary 120
Chapter 7 Conclusions and Future Researches 121
7.1 Conclusions 121
7.2 Future works 125
References 126
Appendix A The FinalValueTheoremBased LQAT and the DigitalRedesign Approach for Linear ContinuousTime Systems with/without Direct FeedThrough Term 140

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