針對不確定欠驅動系統之階層滑動模式控制

HIERARCHICAL SLIDING-MODE CONTROL FOR UNCERTAIN UNDER-ACTUATED SYSTEMS

葉曜維(Yao-Wei Yeh)

指導教授 ： 江江盛

大同大學/電機資訊學院/電機工程學系所/碩士(2012年)

摘要

本文提出了使用階層滑動模式的控制方法來處理某一類不確定欠驅動系統。首先，將滑動面的第一個子系統定義為第一層滑動面，接著利用第一層滑動面跟其他子系統的滑動面來建構第二層滑動面，滑動面的建構會不斷的持續直到包含所有的子系統的滑動面。本論文分別採用模糊邏輯系統與適應法則來近似和估測未知的非線性函數及未知的干擾上界。基於李亞普諾夫穩定度定理和滑動模式控制理論，所提出的控制方法可以保證不確定欠驅動系統之穩定性。最後，以模擬例題來證明所提出控制方法的正確性。

關鍵字

階層滑動模式控制 ； 欠驅動系統

並列摘要

This thesis presents a hierarchical sliding mode control scheme for a class of uncertain under-actuated systems. First, the sliding surface of one subsystem is selected as the first layer sliding surface. Hence, we further construct a second layer sliding surface from the first layer sliding surface and the sliding surface of another subsystem till all the subsystem sliding surfaces are included. The fuzzy system and some adaptive laws are applied to approximate the unknown nonlinear functions and estimate the upper bounds of the unknown uncertainties, respectively. By means of Lyapunov stability theorem and the theory of sliding mode control, the proposed control scheme ensures the stability of the uncertain under-actuated system. Finally, simulation results show the validity of the proposed method.

並列關鍵字

hierarchical sliding mode control ； under-actuated systems

參考文獻

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