陳明新臺灣大學：機械工程學研究所陳佳宏Chen, Chia-HungChia-HungChen2007-11-282018-06-282007-11-282018-06-282004http://ntur.lib.ntu.edu.tw//handle/246246/61325在本篇論文中，我們首先探討ㄧ階的順滑模態控制設計，接著我們使用邊界層控制來消除控制輸入的顫震行為。然而，當系統存在雜訊時，上述方法無法壓制顫震行為的發生，因此我們提出二階的順滑模態控制設計，由於系統存在著未知項，因此我們提供了兩種估測方法的設計，其ㄧ是VSS/LTR observer design，其二則是uncertainty estimator design。由模擬結果，我們發現二階順滑模態控制可以有效的減少因雜訊所引起的顫震行為。最後，為了有更好的效果，我們進行三階的順滑模態的控制設計。In the thesis, we first introduce the first-order sliding mode control design. In order to reduce the chattering phenomenon of control input, we propose the boundary layer control design. However, when random noise exists in state $x$, boundary layer control is unable to suppress the control chattering. Thus, we introduce the second-order sliding mode control design. Because the system exists uncertainty term, we bring up two kinds of estimator design including the VSS/LTR observer design and the uncertainty estimator design. The second-order sliding mode control design can reduce the control chattering arising from noise effectively. Finally, for better performance, we propose the third-order sliding mode control design.Abstract-Chinese version I Abstract-English version II Chapter1. Introduction 1 Chapter2. First-Order Sliding Mode Control 3 Example 6 Chapter3. Second-Order Sliding Mode Control 8 3.1 VSS/LTR observer 9 3.2 Uncertainty estimator 11 3.3 Control design 14 3.4 Example 15 Chapter4. Third-Order Sliding Mode Control 18 4.1 VSS/LTR observer 19 4.2 Control design 21 4.3 Example 23 Chapter5. Conclusion 24 References 25 Figures 27 Figure 1 The block diagram of second-order sliding mode control 27 Figure 2.1.1 Time history of system states 27 Figure 2.1.2 Control input with time 28 Figure 2.2.1 Time history of system states 28 Figure 2.2.2 Control input with time 29 Figure 2.3.1 Time history of system states 29 Figure 2.3.2 Control input with time 30 Figure 3.1.1 Time history of system states 30 Figure 3.1.2 Estimator error with time 31 Figure 3.1.3 Control variable w with time 31 Figure 3.1.4 Control input u with time 32 Figure 3.1.5 The Lyapunov function with time 32 Figure 3.2.1 Time history of system states 33 Figure 3.2.2 Estimator error with time 33 Figure 3.2.3 Control variable w with time 34 Figure 3.2.4 Control input u with time 34 Figure 3.2.5 The Lyapunov function with time 35 Figure 3.3.1 Time history of system states 35 Figure 3.3.2 Estimator error with time 36 Figure 3.3.3 Control variable w with time 36 Figure 3.3.4 Control input u with time 37 Figure 3.3.5 The Lyapunov function with time 37 Figure 3.3.6 The comparison of norm of x 38 Figure 3.4.1 Time history of system states 38 Figure 3.4.2 Estimator error with time 39 Figure 3.4.3 Control variable w with time 39 Figure 3.4.4 Control input u with time 40 Figure 3.4.5 The Lyapunov function with time 40 Figure 3.5.1 Time history of system states 41 Figure 3.5.2 Estimator error with time 41 Figure 3.5.3 Control variable w with time 42 Figure 3.5.4 Control input u with time 42 Figure 3.5.5 The Lyapunov function with time 43 Figure 4.1.1 Time history of system states 43 Figure 4.1.2 Estimator error with time 44 Figure 4.1.3 Control variable h with time 44 Figure 4.1.4 W with time 45 Figure 4.1.5 Control input u with time 45 Figure 4.1.6 The Lyapunov function with time 46 Figure 4.2.1 Time history of system states 46 Figure 4.2.2 Estimator error with time 47 Figure 4.2.3 Control variable h with time 47 Figure 4.2.4 W with time 48 Figure 4.2.5 Control input u with time 48 Figure 4.2.6 The Lyapunov function with time 49 Figure 4.3.1 Time history of system states 49 Figure 4.3.2 Estimator error with time 50 Figure 4.3.3 Control variable h with time 50 Figure 4.3.4 W with time 51 Figure 4.3.5 Control input u with time 51 Figure 4.3.6 The Lyapunov function with time 52 Figure 4.3.7 The comparison of norm of x 521260867 bytesapplication/pdfen-US匹配性條件顫震二階順滑模態控制順滑模態控制估測器second-order sliding mode controlobservermatching conditionchatteringsliding mode controlthesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/61325/1/ntu-93-R91522811-1.pdf