| Summary: | 碩士 === 遠東科技大學 === 機械工程研究所 === 102 === Control of uncertain systems is now an important topic of control theory. There are many control methods studied on the issue of uncertain systems. In which, the sliding mode control has simple control architectures, and have excellent robustness on the sliding surface when the system is subject to matched uncertainties and disturbance. Therefore, it becomes a useful controller design technique of the uncertain systems.
First, this paper studies the robust controller design for the system with norm-bounded uncertainties. Then, a control design strategy is proposed by extending norm-bounded uncertainty to parameter structured uncertainty. By using the technique of linear matrix inequality, sliding surface with exponential decay dynamics is derived and the equivalent control term of the sliding controller is obtained. Based on different type of uncertainties, two approaching control laws corresponding to each type of uncertainties are also derived. Where the derived controller based on norm-bounded uncertainties has the simple characteristic and the derived controller based on the structured uncertainties is less conservative. Finally, numerical examples are illustrated to express the effectiveness of the proposed methods
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