New Implementation Theories of Sliding Mode Control Based on Differential-Algebraic Inclusion Approximation

微分内含物是一类微分方程的组成部分，在数学上具有独特的特性，但在工程技术上的应用一直存在问题。本研究项目旨在利用微分内含物在工程应用中不失去其固有特性的基础上，基于“微分代数内含物近似”，这是一种新的微分内含物近似技术。所获得的结果包括实现良好控制性能和安全性的机器人控制技术以及有效地从传感器信号中去除噪声的滤波技术。

Differential inclusions, which constitute a certain class of differential equations, have mathematically unique characteristics, but its application to engineering techniques has been problematic. This research project aimed to utilize differential inclusions in engineering applications without loosing their inherent characteristics based on a“differential-algebraic inclusion approximation,"which is a new approximation technique for differential inclusions. The obtained results include robot control techniques that achieve good control performance and safety and filtering techniques that efficiently remove noise from sensor signals.