離散非線性系統積分型類滑膜控制器之設計與研究

Abstract

本篇論文將積分型滑模控制設計從連續非線性不確定系統推廣到不確定項滿足匹配條件(matching condition)的離散非線性不確定系統，而所設計的順滑面主要具備兩項優點：1.使得動態系統的狀態一開始就位在順滑面上，系統會具有較為強健(robust)的特性。2.當狀態位於順滑面上時，整個動態系統會等效於原始的無干擾系統(nominal system)，因此可以根據設計者的不同需求來控制此無干擾系統。同時配合所採用的控制器，能有效的抵抗雜訊的干擾，並且明確的找到其類滑模帶(Quasi-Sliding Mode Band，QSMB)的範圍。

In this thesis, we extend the design of integral-type sliding mode control from a continuous-time nonlinear uncertain system to a class of discrete-time nonlinear uncertain system, in which the uncertainty satisfies the matching condition. The selected sliding surface has two main features. First, the initial states locate on the sliding surface from beginning, so that the robustness of the system can be improved. Second, when the states remain on the sliding surface, the uncertain system behaves the same as the nominal system has, therefore, the engineer may perform their optimal design with respect to the nominal system according to requirements. Furthermore, the integral-type sliding surface is also combined with the quasi-sliding mode controller, to find out the quasi-sliding mode band (QSMB).