Design of Sliding Surfaces for Systems with Mismatched Delayed Perturbations
| Autor: | Yi-chia Chiu, 邱奕嘉 |
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| Rok vydání: | 2009 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 97 Based on the Lyapunov stability theorem, an adaptive sliding mode control scheme is proposed in this thesis for a class of systems with mismatched state-delayed perturbations to solve regulation problems. The main idea is that some adaptive mechanisms are embedded both in the sliding surfaces and in the controllers, so that not only the mismatched perturbations are suppressed during the sliding mode, but also the information of upper bound of perturbations is not required. The sliding surface functions are firstly designed through the usage of designed pseudo controllers, which is capable of stabilizing the reduced-order systems. The number of the sliding surface functions required by the proposed control scheme depends on the relationship between systems''s dimension and number of inputs. The second step is to design the controllers so that the trajectories of the controlled system are able to reach sliding surface in a finite time. Once the controlled system enters the sliding mode, the asymptotical stability is guaranteed. Two numerical examples and one practical experiment are given for demonstrating the feasibility of the proposed control scheme. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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