本論文主要目的是針對欠致動系統提出滑動模式控制器,由於欠致動系統有致動器不足的問題,因此提出滑動模式控制器來處理因致動器不足造成整個系統無法控制而產生失效現象。首先提出滑動模式控制器搭配邊界層技術控制兩輪倒單擺車平衡與定速控制;接著提出階層式滑動模式控制於單輪車平衡與定速控制;最後使用適應性滑動模式於天車系統定位控制,三種方法皆利用Lyapunov穩定法則來證明系統的穩定性,最後以電腦模擬來驗證所提出之控制法則能有效的改善輸入的切跳現象與達到追蹤控制目標。
In this paper, the sliding mode controller is proposed to underactuated systems. Because the underactuated systems have few control inputs than degrees of freedom, the control of underactuated systems is theoretically more complex than fully actuated systems. First, a sliding mode control with boundary layer technology is developed to control two-wheeled inverted pendulum balance and velocity. Second, the hierarchical sliding mode control is proposed to control a single wheeled car balance and velocity. Finally, design the adaptive sliding mode controller to container cranes positioning control. The stability of three methods is using Lyapunov method. Simulation results demonstrate that the chattering is eliminated and trajectory tracking is achieved.