具有狀態與輸入的時間延遲系統之適應滑動模式控制器設計

DESIGN OF ADAPTIVE SLIDING MODE CONTROLLER FOR STATE AND INPUT TIME DELAY SYSTEMS

吳昱鋒(Yu-Fong Wu)

指導教授 ： 龔宗鈞

大同大學/電機資訊學院/電機工程學系所/碩士(2005年)

摘要

本論文針對一個具有狀態與輸入延遲的參數不確定與擾動的系統設計控制器，輸入與狀態延遲的問題會造成系統的不穩定，本文是利用狀態轉換去消除輸入延遲，轉換後的系統將沒有輸入延遲的現象，並以適應法則估測系統的整體的干擾，使系統有比較小控制能量消耗，我們並提出並(1)滑動模式控制器(2)積分型式滑動模式控制器，以克服狀態延遲與干擾的問題，並讓系統達到滑動模式且使系統漸近穩定。
最後，我們利用二個例子的模擬，並比較以(1)滑動模式控制器(2)積分型式滑動模式控制器的優缺點，並經由這些例子可以驗證本文所提出的控制器針對此種系統的有效性。

關鍵字

適應 滑動模式控制 時間延遲系統

並列摘要

In this thesis, we design a controller of parameter uncertain system with input and state delay and disturbance. Input and state delay problem will cause instability to system. This thesis takes advantage of state transformation method to eliminate the input delay. The transformed system is free to the input delay phenomenon. The Adaptive technique is utilized to estimate the perturbation of system in order to minimize the control input consumption and make the error minimize. We also propose (1) Sliding Mode Controller (2) Integral Sliding Mode Controller to overcome the problem of state delay and perturbation and make system reach to sliding surface and asymptotically stable.
Finally, we utilize the simulations of two examples to compare the advantage and shortcoming of (1) Sliding Mode Controller (2) Integral Sliding Mode Controller, it can be verified the validness of the controllers proposed in this thesis.

並列關鍵字

adaptive ； sliding mode control ； time delay system

參考文獻

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