非奇異終端順滑模控制之研究及其於機械手臂之應用

Abstract

本論文探討非奇異終端順滑模控制(nonsingular terminal sliding mode control)的設計技術，並將此技術應用在機械手臂的軌跡追 蹤控制任務。此一控制技術不但能完全消除匹配型干擾的影響， 同時也能保證系統狀態在有限的時間內成功達成軌跡精準到位之 控制任務，更進一步，還能提供工程師規劃暫態響應的設計自由 度，包括有最大超越量（maximum overshoot）及收斂時間。此 外，本論文也成功的將此控制技術應用於機械手臂之軌跡追蹤控 制任務，並與相關控制技術所獲得的結果進行性能比較與分析， 模擬結果充分的說明了此非奇異終端順滑模控制技術之優越性。

Issues concerning the design of a nonsingular terminal sliding mode control (NNTSMC) scheme are studied in this thesis. It is shown that the NNTSMC scheme not only has the ability of totally rejecting the effects of matched uncertainties and/or disturbances, but also own the characteristic of finite time convergence performance. Moreover, the NNTSMC provides the engineer a degree of freedom on the determination of the state transient response, including the maximum overshoot of the state error and the time of convergence. Finally, the analytic results are employed to the study of tracking control of a two-link robot. Simulation results, comparing with those obtained by several existing control designs, clearly demonstrate the benefits of the NNTSMC scheme.