本論文針對具有mismatched general uncertainties的高階三角形非線性系統，提出一種新的簡化設計方法，擺脫傳統Backstepping控制和多重滑動面控制在面對高階系統時，所產生的設計複雜度問題。其概念在依循輸入輸出回授線性法的程序，對輸出訊號逐次微分，並將未知量集總，直到控制訊號出現為止。接著再藉由函數近似法，來設計適應控制器，並透過Lyapunov理論，證明其穩定性與內部訊號的有界性。本文以電腦模擬來驗證所提控制器的可行性，同時將之應用於著名的ACC benchmark problem中，來展示其優秀的控制性能。

For higher order strictly-feedback nonlinear systems, designs of the traditional backstepping control and multiple-surface sliding control are too complicated to implementation. In this thesis, a simple strategy is proposed to alleviate some of the difficulties and to provide an effective way to cope with mismatched general uncertainties. It follows the concept of input-output feedback linearization where successive differentiations of the system output are performed until the control input appears. During the procedure, all uncertainties are lumped in the current step and to be collected in the next step. When the control input comes out, a function approximation based adaptive controller is designed to cope with the lumped uncertainty. The Lyapunov theory is utilized to justify closed-loop stability and boundedness of internal signals. Computer simulations are performed to verify effectiveness of the proposed design. Application of the strategy to the renowned ACC benchmark problem also gives satisfactory results.

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