平滑輸入滑動模式控制設計

本論文提出以設計平滑輸入的滑動模式控制來改善令人詬病切跳的缺點。傳統的滑動模式控制是利用不連續的輸入在指定好的路徑下驅使系統狀態的軌跡由初始值往原點接近。然而，不連續輸入所產生的切跳現象會造成硬體實現上的問題，因此，吾人使用了幾個方法來改善這個切跳現象，包括傳統的邊界層技術、模糊控制，以及連續滑動模式控制。另外，也使用根軌跡的方法來設計滑動函數，其目的是做極點配置以增強系統的性能。藉由電腦模擬，驗證所提出控制的方法可以確保系統在有參數擾動及外來干擾下的穩定性。

關鍵字

滑動模式控制；模糊控制；根軌跡；機器手臂；水下載具；垂直昇降飛機

並列摘要

In this dissertation, the sliding mode control with smooth control law is developed. Classical sliding mode control uses a discontinuous control action to drive the state from an arbitrary initial state to the origin along a user-specified path and exhibits robustness to parameter uncertainties and external disturbances. However, the chattering due to the discontinuity control law is undesirable in the most applications. Several methods to eliminate the input chattering are proposed which include the traditional boundary layer method, fuzzy logic control, and continuous output-sliding control approach. In addition, using the root locus technique in the design of sliding function makes possible the complete pole assignment and improves the control system performance. Through the computer simulation, it is verified that the proposed methods assure the system performance and the robustness in the presence of parameter uncertainties and external disturbances.

並列關鍵字

sliding mode control ； fuzzy control ； root locus ； manipulator ； underwater vehicle ； vertical takeoff and landing aircraft

參考文獻

[1] Itkis, U., Control system of variable structure, John Wiley & Sons, New York, 1976.

[2] Utkin, V. I., Sliding modes in control and optimization, Springer-Verlag, New York, 1992.

[3] Hung, J. Y., Gao, W., and Hung, J. C., “Variable structure control: a survey,” IEEE Trans. Ind. Electron., 40, 1993.

[4] Young, K. D., Utkin, V. I. and Özgüner, Ü., “A control engineer''s guide to sliding mode control,” IEEE Trans. Contr. Syst. Technol., 7, 328-342, 1999.

[5] Xu, J. X., Pan, Y. J, and Lee, T. H., “A VSS identification scheme for time-varying parameters,” Automatica, 39, 727-734, 2003.

國際替代計量

平滑輸入滑動模式控制設計

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