本文針對含有匹配及非匹配式雜訊之多輸入非線性系統，提出一快速終端順滑模態控制架構，用以解決系統狀態回歸之問題。首先設計順滑模態面，接著再設計相對應的順滑模態控制器。藉由引入擾動估測器的架構，能避免在奇異點問題發生時控制增益會過大之問題。在本文中可看見受控系統之穩定度將不會被奇異點所影響，且在此控制架構下確實能使狀態在有限時間內到達順滑模態面和平衡點並停留在那。最後，本文提供一數值及一實際範例來驗證其可行性。

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.

論文審定書 ……………………………………………………………………… i
致謝 ……………………………………………………………………………… ii
中文摘要 ………………………………………………………………………… iii
Abstract ………………………………………………………………………… iv
List of Figures …………………………………………………………………… vii
Chapter 1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
1.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. .1
1.2 Brief Sketch of the Contents . . . . . . . . . . . . . . . . . . . . . . . .. . . . .3
Chapter 2 Design of Terminal Sliding Mode Controllers 4
2.1 System Descriptions and Problem Formulations . . . . . . . . . . . . . . 4
2.2 Design of Sliding Surface . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . 5
2.3 Design of Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . .. 9
2.4 Stability Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . .. 10
Chapter 3 Computer Simulation and Practical Application 18
3.1 Numerical Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
3.2 Practical Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. .20
Chapter 4 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. .34
Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. .34
Appendix . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. .41
Appendix A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. .41
Appendix B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. .41
Appendix C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. .42

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