Extensive Research of Output-Sliding Control with Applications

• Main Authors: Han-Kang Way, 魏漢康
• Other Authors: Ying J. Huang
• Format: Others
• Language: en_US
• Published: 2001
• Online Access: http://ndltd.ncl.edu.tw/handle/53672640867030992226

博士 === 元智大學 === 電機工程研究所 === 89 === This dissertation overcomes the design strategies for nonminimum phase, time-varying, and discrete-time control systems. First, A systematic design algorithm is developed which links the sliding mode control and the root locus technique for uncertain nonminimum phase systems with external disturbances. The proposed method is successfully applied to control the angle of attack of missile attitude control systems and a vertical takeoff and landing aircraft. Second, the extension of output-sliding control method to discrete output sliding control for discrete-time systems is achieved. Switching surface is defined by using only output and its delayed signals. In the sliding mode, the closed-loop eigenvalues are proved to be within the unit circle in the z-plane. Therefore, the stability of the control system is guaranteed. Robust output performance is ensured with the presented switching surface design. Through the analysis of the damping displacement of pantograph/catenary of high-speed rail system, it is verified that the proposed discrete output-sliding control method indeed assures the system robustness. Third, we developed an output-sliding control method for linear multivariable systems with external disturbances and time varying parameter uncertainties in both the state and input matrices. The formulation of the control law was emphasized to achieve system robustness against parameter variations and external disturbances. A manipulator control application was carried out. Under the physical constraint condition, the proposed method can deal with time varying systems with satisfactory accuracy.