Design of Terminal Sliding Mode Controllers for Nonlinear Systems with Mismatched Perturbations

• Main Authors: Yu-cheng Liou, 劉育誠
• Other Authors: Chih-Chiang Cheng
• Format: Others
• Language: en_US
• Published: 2015
• Online Access: http://ndltd.ncl.edu.tw/handle/743ef4

碩士 === 國立中山大學 === 電機工程學系研究所 === 103 === In this thesis a fast terminal sliding mode control strategy is proposed for a class of multi input nonlinear systems with matched and mismatched perturbations to solve state regulation problems. The sliding surface is firstly designed, and then the sliding mode controller is designed accordingly. A perturbation estimation mechanism is also embedded in the proposed control scheme, hence extremely large control gain is avoid when singularity problems occur . It is shown that the singular points will not affect the stability of the proposed control systems, and the control strategy can indeed drive the states into the sliding surface as well as equilibrium point within finite time, and stay thereafter. Finally, a numerical example and a practical application are given for demonstrating the feasibility of the proposed control strategy.