離散非線性系統之類滑模控制器設計與研究

Abstract

本篇論文將Bartoszewicz所提出的類滑模控制設計（1998）從離散線性系統推廣到離散非線性系統，允許選用的順滑函數並不限定是線性的形式。本論文提出三種方式來設計順滑函數，並根據外界干擾之變動速率提出兩種類滑模控制器。這類滑模控制器的特點在於它可以使系統有效的減輕切跳現象，並且降低控制所需消耗的能量提昇系統性能。所設計的結果也成功的應用在拖車系統中，並與模糊控制器的控制結果做比較，模擬結果說明了類滑模控制的優點及其穩健性。

In this thesis, we extend Bartoszewicz’s design of quasi-sliding mode control for discrete-time linear systems (1998) to a class of discrete-time nonlinear systems. The selected sliding surface in this extension is allowed to be nonlinear rather than only linear one. Three schemes for the selection of sliding surfaces, and two quasi-sliding mode controllers according to the variation rate of disturbances are presented in this study. The obtained analytic results are also employed to study the control of a trailer-truck system. Simulation results with comparisons to those of fuzzy controllers demonstrate the benefits of the proposed schemes.