本論文基於李亞普諾夫之穩定性定理，針對具有非匹配干擾的多輸入多輸出動態系統提出一個適應順滑模態控制器以解決其穩定性的問題。為了抑制受控系統的干擾，將調適機制應用於順滑面及控制器中，使得在設計控制策略時，部份的擾動之上界資訊是不需要的。藉由此嶄新的順滑面設計，具有非匹配干擾的系統狀態軌跡在進入順滑面時將會漸進穩定，而且引入調適機制的控制策略將使得系統狀態軌跡在有限時間內進入順滑面。最後，本論文提供一個數值範例以驗證本控制器的可行性。

Based on the Lyapunov stability theorem, an adaptive sliding mode control scheme is proposed in this thesis for a class of mismatched perturbed multi-input multi-output (MIMO) dynamic systems to solve stabilization problems. In order to suppress the perturbations in the control systems, adaptive mechanisms are employed both in sliding function and control effort, so that the information of upperbound of some perturbations is not required when designing the proposed control scheme. Due to the novel design of sliding function, the state trajectories of this system can achieve asymptotical stability in the sliding mode even if mismatched perturbations exist. In addition, with an adaptive mechanism embedded in the proposed control scheme, the controller can drive the state's trajectory into the designated sliding surface in a finite time. A numerical example is demonstrated for showing the applicability of the proposed design technique.

Abstract . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . i
List of Figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Chapter 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Brief Sketch of the Contents . . . . . . . . . . . . . . . . . . . 3
Chapter 2 Design of Adaptive Sliding Mode Controllers 4
2.1 System Descriptions and Assumptions . . . . . . . . . . . 4
2.2 Design of Sliding Surface . . . . . . . . . . . . . . . . . . . . . 6
2.3 Stability of the System in the Sliding Mode . . . . . . . 8
2.4 Design of Adaptive Sliding Mode Controllers . . . . . 14
2.5 Summary and Design Procedure . . . . . . . . . . . . . . . 18
Chapter 3 Numerical Example . . . . . . . . . . . . . . . . . . . . 19
Chapter 4 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . 35
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37

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