| Summary: | 博士 === 元智大學 === 電機工程學系 === 96 === In this dissertation, various sliding mode control methods are proposed to improve some shortcomings and limitations in conventional sliding mode control and further to reduce consumption time and prime cost. Conventional sliding mode control uses a suitable control law to drive the system states from initial position to the origin along a user-specified path. Unfortunately, a high frequency and discontinuous control action exists in conventional sliding mode control. Then, the chattering owing to the discontinuous control law is very difficult to be implemented in most applications. Moreover, a limitation is that one or more closed-loop poles in the sliding mode are located at the origin. For this reason, this dissertation proposes various modified sliding mode control strategies to eliminate the chattering, to assign freely all closed-loop poles, to eliminate states observation, and to increase computation efficiency. In summary, the proposed modified sliding mode control methods integrate adaptive control, pole assignment, output sliding control, and look-up table techniques. Through the simulations and experiments, the modified sliding mode controllers have been shown to achieve the demanded goals with satisfactory control performance and to guarantee the system robustness under parametric variations and external disturbances.
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