在實際的非線性系統中，常含有參數不確定性、未模式化擾動及可能受到各種外擾影響，而造成控制性能下降，使得系統輸出響應不如預期。適應控制藉由參數調整器來自動調整控制參數，雖能克服系統含有參數不確定性的困擾，但無法排除外來干擾所帶來的不良影響。因為當系統受到外擾影響或回授訊號含有雜訊時，可能使參數調整器誤以為追蹤誤差變小，而停止控制參數的調整，導致閉迴路系統不穩定。
在本篇論文中，我們將針對非線性多變數系統，設計一個含有滑動模式控制之適應- 控制器：利用滑動模式控制器來解決當系統具有模式不確定性或外界干擾之影響時，能有效的克服此問題。最後結合H控制器來提昇系統之追蹤響應與追蹤誤差及系統內部之強健性。
最後，本文針對機械手臂操作系統，作為電腦模擬之控制對象，來驗證所設計之適應-H∞滑動模式控制器之可行性。經由模擬的結果顯示，在適當的控制參數選取下，系統能有良好之追蹤性能並且提高傳統適應控制之強健性。

Since a practical nonlinear system often has uncertain parameters, unmodeled dynamics and external disturbances in it, the system performance is hard to be achieved by using the traditional controllers. Adaptive control theorem can overcome uncertain parameters of systems by using parameter adjuster, but it can’t reject the influence of external disturbance. Because when a system has disturbance or has feedback signals containing sensor noise, the parameter adjuster may mistake for that the tracking error was being diminished and stops adjusting the parameters, which may cause the closed loop system unstable.

In this study, an adaptive-H∞ control law, which contains sliding mode control, is derived for the nonlinear multiple-input multiple-output systems based on the tracking properties of slide controller. In this study, to achieve the desired tracking performances, including minimizing the tracking errors and maintaining the robustness of the closed-loop system, the H∞ methodology is included in the proposed control design.

A robot manipulator system is studied as example in this research to attest the feasibility of the proposed adaptive-H∞ sliding mode control design. The computer simulation results reveal that if the control parameters are properly chosen, the system has good tracking performance and increases the robustness of traditional adaptive controller.

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