本論文針對含有匹配或非匹配雜訊之多輸入多輸出系統分別提出三種不同的強健型控制策略。首先，第一種控制策略是針對某些無法量測狀態變數的系統，設計出適應性可變結構觀測器及控制器，用來解決系統校準的問題。利用順滑模態控制器的調適機制，不但能使受控系統於有限時間內達到迫近模態，當系統處於順滑模態時，還可有效地壓制非匹配雜訊對系統之影響。接著，第二種控制策略是設計適應性順滑模態控制器應用於機械手臂的追蹤問題上，其系統動態方程式中含有擾動的前置參數矩陣可以是正定或負定，利用此控制架構，受控系統的狀態追蹤將會達到漸進穩定的效果。最後，第三種控制策略則是利用T-S模糊模式設計出適應性順滑模態控制器來解決追蹤的問題，於此控制架構下，受控系統能在有限時間內進入順滑面，並且還可以保證其輸出追蹤軌跡能夠達到漸進穩定。
上述三種控制架構皆以李亞普諾夫定理為理論基礎，每個控制架構皆包含三個部分，第一部分用來消除系統可量測之回授訊號，第二部分則是決定受控系統進入順滑模態速度之控制增益，第三部分為適應控制機制，用來估測未知干擾的上界常數，使系統之匹配或非匹配雜訊的上界資訊就能不需事先知道。針對本論文所提出之控制架構，利用數值範例及機械手臂控制之應用來驗證其可行性。

In this dissertation three robust control strategies are proposed for a class of multi-input multi-output dynamic systems with matched or mismatched perturbations. Firstly, an adaptive variable structure observer and controller are introduced for solving the regulation problems, where some state variables are not measurable. By utilizing adaptive mechanisms in the design of sliding mode controller, one can enable the controlled systems not only to generate a reaching mode in finite time, but also to suppress the mismatched perturbations during the sliding mode. Secondly, the design of adaptive sliding mode controllers with application to robot manipulators is presented to solve the tracking problems. The dynamic equations of the controlled systems contain a perturbed leading coefficient matrix and can be either positive definite or negative definite. The asymptotical stability of the controlled systems will be attained if the proposed control scheme is employed. Thirdly, a design methodology of adaptive sliding mode controller based on T-S fuzzy model is proposed to solve tracking problems. It is shown that the trajectories of the controlled systems can be driven into a designated sliding surface in finite time, and the property of asymptotical stability is also guaranteed.
All these three control schemes are designed by means of Lyapunov stability theorem. Each control scheme contains three parts. The first part is designed for eliminating measurable feedback signals. The second part is used for adjusting the convergent rate of state variables (or tracking errors) of the controlled system. The third part is the adaptive control mechanism, which is used to adapt some unknown constants of the least upper bounds of perturbations, so that the knowledge of the least upper bounds of matched or mismatched perturbations are not required. Several numerical examples and an application of controlling robot manipulator are demonstrated for showing the feasibility of the proposed control methodologies.

Abstract ........i
1 Introduction 1
1.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Brief Sketch of the Contents . . . . . . . . . . . . . . . . . . . 6
2 Design of Robust Variable Structure Observers and Controllers for
Mismatched Uncertain Systems to Achieve Asymptotical Stability 7
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2 System Descriptions and Problem Formulations . . . . . . . . . 8
2.3 Design of the Robust Observers . . . . . . . . . . . . . . . . . 9
2.4 Analysis of System’s Stability . . . . . . . . . . . . . . . . . . 13
2.5 Numerical Simulation . . . . . . . . . . . . . . . . . . . . . . . 16
3 Design of Robust Adaptive Variable Structure Tracking Controllers
with Application to Robot Manipulators 21
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.2 System Descriptions and Problem Formulations . . . . . . . . . 22
3.3 Design of the Adaptive Variable Structure Controller . . . . . . 24
3.4 Analysis of System’s Stability . . . . . . . . . . . . . . . . . . 28
3.5 Examples and Simulations . . . . . . . . . . . . . . . . . . . . 31
4 Adaptive Sliding Mode Controller Design Based on T-S Fuzzy System
Models 40
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.2 System Descriptions and Problem Formulations . . . . . . . . . 41
4.3 DesignofASMC . . . . . . . . . . . . . . . . . . . . . . . . . 45
4.4 Numerical Simulation . . . . . . . . . . . . . . . . . . . . . . . 49
5 Conclusions and FutureWorks 54
5.1 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
5.2 FutureWorks . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
References 56

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