Robust Control of Nonlinear Dynamic Systems Using Sliding Mode Control and Productive Networks

• Main Authors: Ming-Chau Hwang, 黃銘照
• Other Authors: Jin-Chern Chiou
• Format: Others
• Language: en_US
• Published: 1994
• Online Access: http://ndltd.ncl.edu.tw/handle/34527693885035175158

碩士 === 國立交通大學 === 控制工程系 === 82 === Robust control of nonlinear dynamic systems has been studied for years. In this dissertation, a new robust controller design of nonlinear dynamic systems is proposed by combining with sliding mode control and productive networks. Essentially, the sliding mode control uses discontinuous control action to drive state trajectories toward a specific hyperplane. This principle provides a guideline to design a robust controller. Productive networks, which is a special type of artificial neural networks, is then used to tackle the drawbacks of SMC. Attractive features of the proposed method include a systematic procedure of controller design, a reduction in chattering, robustness against model uncertainties and external disturbances. Two numerical examples are given to demonstrate the effectiveness of the proposed method.