| Summary: | 碩士 === 輔仁大學 === 電子工程學系 === 98 === This thesis is based on the mathematical model of an LIM where the end effect is considered, and then two controllers, namely backstepping sliding mode controller and adaptive backstepping sliding mode controller, are proposed to design the LIM position tracking controller. The design procedure of the controller includes to choose an appropriate sliding surface and present a control input. The stability of the proposed controller is also proved to guarantee that the system states will approach to the sliding surface and reach the system equilibrium point. Using backstepping sliding mode controller and adaptive backstepping sliding mode controller, we can not only drive the system state variables to reach and retain in the sliding mode, but the system state variables also reach the system equilibrium point asympotically. The backstepping sliding mode controller is robust to external disturbance. The proposed controller can achieve good position tracking results with strong robustness and/or system uncertainty. The adaptive backstepping sliding mode controller is used to release requirement of a known bound of the uncertainity maximum of parameters. The performance of the developed adaptive controller is also satisfied.
Lyapunov theory is used to analyize the stability of the closed-loop systems. In this thesis, system simulation results are illustrate to demonstrate that the proposed backstepping sliding mode controller and adaptive backstepping sliding mode controller can achieve good position tracking results.
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