采用滑?？刂圃谇夫?qū)動系統(tǒng)的解決問題

1、華北電力大學(xué)（北京）碩士學(xué)位論文采用滑?？刂圃谇夫?qū)動系統(tǒng)的解決問題姓名：JOSEPHMUDARE申請學(xué)位級別：碩士專業(yè)：自動化；控制理論與控制工程指導(dǎo)教師：錢殿偉201202華北電力大學(xué)碩士學(xué)位論文葺iii嗣iii置iii置iiiiiiiiiiiiiiii宣iiiiiiiiiiiiiiiiiiiiiiiiii青iiii置iii置iiiiiii嗣iiiiii葺AbstractOnthebasisofslidingmodecontrolas

2、tablehierarchicalslidingmodecontr01lermodelforacenainclassofunder_actuatedsVstemsispresentedinthisthesisInthismethod，duetomestmcturalcharac乜eristicofthesvstemwhichcanbesubdividedintoseveralsubsystems，thehicrarchicalstruc

3、tllreoftheslidingsurfacesismadeupinthefollowingmannerFirst，theunderactuatedsVstemisdividedintosel礦eralsubsVstemsForeachsu_bsystemaslidingmodesurfaceisdefinedNext，twostates丘omtwosubsVstemsarechosentoconstmctmefirst1aVersl

4、idingmodesurfaceThenmeconstmctedfirst1ayerslidingsurfaceiscombinedt02etherwimoneoftheunusedstatestocons仇】ctt11esecondlayerslidingsu血ceThisprocessisrepeateduntilthe1astlayerslidingsurfaceisobtained7111eIⅣapunovstabili鉀the

5、oryisusedtoobtaintheslidin野modeconbollawThecon乜011awcan衄vemesubsystemstowardmeirslidingsurfacesmldattaintheirdesiredvaluesDuetothenoveldesi擘皿ofslidingRmctionmestatetraiectoriesoft11issystelncallnowacmeveasⅥnptoticstabili

6、tvevenifmismatcheduncertaintiesexist、vheninslidingmodeTheasylllptoticstabilityofeVe巧1ayerslidingmodesurfacea11dmeslidingmodesuffaceofeachsubsystemisproVelltlleoreticallyusingtheLyapunovtheoryThevalidityofthiscontrollermo