| Summary: | 博士 === 國立中山大學 === 電機工程學系研究所 === 95 === In this dissertation, four nonlinear controllers are proposed for different class
of multi-input multi-output (MIMO) systems with matched and mismatched perturbations.
All the plants to be controlled contains input uncertainty. The technique
of the adaptive sliding mode control (ASMC) scheme is first introduced in
order to solve the regulation or tracking problems. By applying adaptive techniques
to the design of a novel sliding surface as well as to the design of sliding
mode controller, one can not only enable the fulfillment of reaching mode in fi-
nite time, but also suppress the mismatched perturbations when system is in the
sliding mode. Secondly, the design methodology of block backstepping is proposed
to solve the regulation problem in chapter 5. Some adaptive mechanisms
are employed in the virtual input controller, so that the mismatched perturbations
can be tackled and the proposed robust controller can guarantee stability
of the controlled systems. All these control schemes are designed by means of
Lyapunov stability theorem. Each robust controller contains two parts. The first
part is for eliminating measurable feedback signals of the plant, and the second
part is an adaptive control mechanism, which is capable of adapting some unknown
constants embedded in the least upper bounds of perturbations, so that the
knowledge of the least upper bounds of matched and mismatched perturbations
is not required and can achieve asymptotic stability. Several numerical examples
and industrial applications are demonstrated for showing the feasibility of the
proposed control schemes.
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