| 摘要: | 本研究提出一類一階順滑模態控制法則其可以保留原始順滑模態控制中快速反應和穩健性的優點。由於所提出的控制法則具有連續的特性，所以sign形式的順滑模態控制的振顫現象可以被大幅地減輕。理論證明此控制法則也可以改善saturation形式順滑模態控制律只能達到均勻最終有界的缺點，達到漸進穩定的程度。
This study presents a class of lst-order Sliding Mode Control (SMC) laws that maintain the advantages of rapid response and robustness from conventional SMC schemes. These SMC laws are continuous everywhere so that the chatter, a characteristic of the sign-type SMC laws, is greatly alleviated. It is also theoretically shown that the SMC laws are able to mend the saturation-type SMC's weakness of only achieving uniformly ultimate boundedness performance to an asymptotic stability level. |
