| Summary: | 碩士 === 大同大學 === 電機工程研究所 === 89 === In this thesis, an adaptive tracking controller which is combined with a sliding surface is proposed for nonlinear uncertain systems in the presence of higher-order and unmatched uncertainties. Because the parameters of the system to be controlled are unknown, we will use the parameter estimation algorithm to estimate these system parameters. Moreover, a simple extensive adaptation law is presented in this thesis to estimate the coefficients of the upper bounds of these higher-order and unmatched uncertainties, without the knowledge of these higher-order and unmatched uncertainties. However, it is difficult to adequately choose the values of the parameters of the adaptation laws and the coefficients of the sliding surface. Fortunately, the genetic algorithm can be well applied to find the optimal values, based on the object function of the problem and the constraints for the system. Finally, several examples and simulation results are performed to illustrate the validity of the proposed control design method.
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