| Summary: | 碩士 === 國立交通大學 === 電機與控制工程系 === 91 === A modified Variable Structure Control (VSC) scheme is developed in this paper for the attitude and position tracking of satellite and robot manipulator, respectively, under parameter uncertainties and external disturbances. The modified VSC laws are continuous, which are shown to be able to alleviate chattering drawback produced by sign-type VSC controllers and improve the performance of saturation-type ones from the level of uniformly ultimate boundedness to the one of asymptotic stability. Simulation results demonstrate the benefits of the proposed VSC design scheme. In addition, we also develop a reliable VSC scheme and apply it to satellite stabilization and missile bank-to-turn tracking. It is shown that the objectives can be achieved even when the system experienced some prespecified actuators outage. In contrast to the existing reliable control, the proposed scheme can alleviate the computational burden for solving the Hamilton-Jacobi equation, which is a difficult and essential part of conventional reliable schemes.
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