非线性系统之可拓滑动模式控制.pdfVIP

非線性系統之可拓滑動模式控制 1 2 3 陳珍源 吳德豐 蔡樸生 1. 中華技術學院電子工程系教授 2. 宜蘭技術學院電機工程系講師 3. 中華技術學院電子工程系講師 摘要 本文提出一基於滑動模式控制架構之新式可拓控制器。所提控制器之控制策略主要分為兩部分：一 是等效滑動模式控制器，其可由原始的受控系統直接推導得來。另一為眾所皆知的強健控制器，用於補償 系統的不確定性及外部擾動項。整合可拓集合理論之重要概念及滑動模式控制，吾人可成功地實現了一強 健可拓控制器。本研究首先架構了一個無須受控系統任何經驗知識之基本可拓控制器，接著選定一組可拓 特性函數，用於主宰受控制系統的狀態變化，再將一組符合適應性控制策略的可調參數，併入上述可拓控 制器，以達成強健控制的目的。如此系統亦稱衝擊控制，乃用於確保系統的強健控制性。實際上，所提之 可拓控制器是滿足李雅普諾夫穩定性的。最後，以一個非線性系統之可拓滑動控制為例，來驗證所提方法 之可行性。 關鍵詞: 可拓集合、可拓控制、滑動模式控制、系統穩定度 Extension Sliding Mode Control for Nonlinear Systems Jen-Yang Chen1 Ter-Feng Wu2 Pu-Sheng Tsai3 1. Professor, Department of Electronic Engineering, China Institute of Technology 2. Lecturer, Department of Electrical Engineering, Ilan Institute of Technology 3. Lecturer, Department of Electronic Engineering, China Institute of Technology Abstract This paper presents a novel extension controller based on a scheme for sliding mode control. The control strategy of the proposed controller is classified in two parts. One is the equivalent control of sliding mode control, which can be directly obtained from the knowing nominal system. The other is the well-known robust control, which is used to compensate for the system uncertainty and external disturbance. Integrating the essential concept of extension set theory with the sliding mode control, we can easily realize the robust extension controller. In this study, we first organize a basic extension controller without any specific expert knowledge about the controlled system. According to the determined extension char