| Summary: | 碩士 === 國立交通大學 === 控制工程系 === 84 === A modified approach, combining sliding-mode and Ｈ∞
techniques, of frequency shaping sliding-mode controller is
proposed in this thesis. The design methods which permit shaping
frequency through introducing a class of switching surfaces
generated by compensator dynamics. Although the compensator can
be design by pole-placement method, the locations of poles is
hard to associate with its phenomenon of frequency shaping.
According to the cost function, we adjust the weight function in
order to compensate or penalize one specific frequency domain by
Ｈ∞ control synthesis. This controller retains the ability in
eliminating the matching type disturbance. We also discuss the
capability of eliminating the mismatching type disturbance and
the reaching and sliding conditions. While selecting the plant,
we choose the moving-based single flexible arm system. In spite
of the diverse application in aerospace, designing a suitable
controller is difficult because the unmodelling components of
finite dimensional model approximation is large. Moreover, the
large amplitude and low frequency disturbance, generated by the
movement of base, increase the problem of control. The
robustness of controllers can be verified by employed into the
plant.
|
|---|
