本論文基於李亞普諾夫理論(Lyapunov Theorem)，針對具有非匹配擾動大型分散式系統提出一個適應順滑模態控制器的設計方法。在設計順滑面時導入適應控制器，使得當子系統進入順滑模態時，經由控制器可使所有子系統穩定，並且達到輸出追蹤的目的。此外，可以藉由在控制器中設計的參數來調整輸出追蹤的準確性。由於控制器引入調適機制，控制器將自動調適未知擾動上界，所以擾動上界的資訊是不需要的。最後，本論文提供一個數值和一個實際裝置的範例以驗證控制器之可行性。

Based on the Lyapunov stability theorem, a methodology of designing a decentralized multi-surface adaptive sliding mode control scheme is proposed in this thesis for a class of large-scale nonlinear systems with mismatched perturbations and interconnections. By utilizing the sliding mode control technique, the designed decentralized robust controller with adaptive mechanisms embedded enable the output of each subsystem to track its own desired output signal, and stabilize the whole large-scale system as well as each subsystem at the same time. In addition, the accuracy of output tracking can be adjusted through the designed parameter embedded in the controller. The purpose of the adaptive mechanisms included in the controller is to adapt the unknown upper bounds of perturbations and interconnections. Finally, two illustrative examples are given to demonstrate the feasibility of the proposed methodology.

Contents
Abstract . . . . . . . . . . . . . . . .i
List of Figures . . . . . . . . . . . . iv
Chapter 1 Introduction . . . . . . . . . 1
1.1 Motivation . . . . . . . . . . . . . . . . 1
1.2 Brief Sketch of the Contents . . . . . . . 3
Chapter 2 Control Design . . . . . . . . . . . 4
2.1 System Descriptions and Problem Formulations . . . . 4
2.2 Design of Adaptive Sliding Mode Controllers . . . . 6
2.3 Stability Analysis of the Proposed Control Scheme ... 8
2.4 Relaxation of the constraints of perturbations ..... 13
2.5 Summary of Design Procedure . . . . . . . . . . . . 25
Chapter 3 Examples and Simulations . . . . . . . . . .26
3.1 Example1 . . . . . . . . . . . . . . . . . . . . . 26
3.2 Example2 . . . . . . . . . . . . . . . . . . . . . 29
Chapter 4 Conclusions . . . . . . . . .50
References . . . . . . . . . . . . . . 51

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