• 作者： 呂有勝; 陳建祥
• 作者服務機構： 清華大學動力機械工程研究所
• 中文摘要： 本文提出一種整體滑動模式控制器的設計方法，以達到強健的機械臂循跡控制且使得機械臂滑動模式控制器的設計有極大的彈性。整體滑動模式的存在性是根據Lyapunov的第二法則證得。此方式並用來重新設計一般可變結構模式追隨控制器（VSMFC）及積分可變結構控制器（IVSC）以顯示它的設計彈性及優越性。本文亦提出一個非線性濾波器設計來達成減低抖震並同時提高循跡精度之目地。最後，以二軸機械臂之控制模擬來進一步驗證所提控制法則的效能。
• 英文摘要： A scheme for a global sliding mode controller (GSMC) is proposed to achieve robust tracking controlof robot manipulators. The proposed scheme provides much flexibility in the design of sliding mode controlof robot manipulators by assigning a specific function(s) according to the characteristics and specification(s)of the controller structure. The existence of global sliding is verified according to Lyapunov's secondmethod. The redesign of the variable-structure model-following control (VSMFC) and integral variable-structure control (IVSC) is presented in a scheme proposed to demonstrate its flexibility and superioritywith robust tracking control of a two-link revolute joint manipulator subjected to a variable payload. Toalleviate chatter induced by finite switching, we propose a novel nonlinear filtering scheme. Simulationswere performed to illustrate the efficiency of the proposed method.
• 中文關鍵字： sliding mode control; chattering alleviation; robot manipulator
• 英文關鍵字： --