Extension Sliding Mode Control for Nonlinear Systems

本文提出一基於滑動模式控制架構之新式可拓控制器。所提控制器之控制策略主要分為兩部分:一是等效滑動模式控制器，其可由原始的受控系統直接推導得來。另一為眾所皆知的強健控制器，用於補償系統的不確定性及外部擾動項。整合可拓集合理論之重要概念及滑動模式控制，吾人可成功地實現了一強健可拓控制器。本研究首先架構了一個無須受控系統任何經驗知識之基本可拓控制器，接著選定一組可拓特性函數，用於主宰受控制系統的狀態變化，再將一組符合適應性控制策略的可謂參數，併入上述可拓控制器，以達成強健控制的目的。如此系統亦稱衝擊控制，乃用於確保系統的強健控制性。實際上，所提之可拓控制器是滿足李雅普諾夫穩定性的。最後，以一個非線性系統之可拓滑動控制為例，來驗證所提方法之可行性。

關鍵字

可拓集合；可拓控制；滑動模式控制；系統穩定度

並列摘要

This paper presents a novel extension controller based on a scheme for sliding mode control. The control strategy of the proposed controller is classified in two parts. One is the equivalent control of sliding mode control, which can be directly obtained from the knowing nominal system. The other is the well-known robust control, which is used to compensate for the system uncertainty and external disturbance. Integrating the essential concept of extension set theory with the sliding mode control, we can easily realize the robust extension controller. In this study, we first organize a basic extension controller without any specific expert knowledge about the controlled system. According to the determined extension characteristic functions, the functions supervise system states' information under control. A set of parameters, which will be adapted using adaptation strategy, is incorporated into the extension controller such that a robust control term, also called a hitting control, is established to guarantee the system's stability. As a result, the proposed extension controller is stable in the sense of Lyapunov. Finally, we use the proposed extension controller to control a nonlinear system to verify its effectiveness and ability.

並列關鍵字

Extension Set ； Extension Control ； Sliding Mode Control ； System Stability

國際替代計量

Extension Sliding Mode Control for Nonlinear Systems

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