| Summary: | 碩士 === 國立雲林科技大學 === 電機工程系碩士班 === 90 === In this thesis, a novel continuous complementary sliding control was proposed to improve the tracking performance given the available control bandwidth and the extent of parameter uncertainty. With this control law, we have shown that the guaranteed ultimate bound of the tracking error was reduced by one-half, as compared with the conventional continuous sliding control. Moreover, due to its superiority, we presented a composite complementary sliding control scheme for a class of cascade uncertain nonlinear system. The effectiveness of the design methodology has been demonstrated by simulation on an electrohydraulic position servo system.
Based on a half-car model and washout algorithms, we have successfully developed a model of a driving simulator to which the novel sliding mode control scheme was applied.
The present work does pave a way for further study on the high-precision position servo control and the integration of virtual reality and motion platform system.
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