Design of a stable sliding-mode controller for a class of second-order underactuated systems

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	Design of a stable sliding-mode controller for a class of second-order underactuated systems
	Wang, W; Yi, J; Zhao, D; Liu, D
发表期刊	IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS
	2004-11-01
卷号	151 期号:6 页码:683-690
文章类型	Article
摘要	A stable hierarchical sliding-mode control method for a class of second-order underactuated systems is presented. The ideas behind the method are as follows. First, the underactuated system is divided into two subsystems. For each part a first-level sliding surface is defined. For these two first-level sliding surfaces, a second-level sliding surface is defined. The sliding-mode control law is derived using Lyapunov law. The control law can drive the subsystems toward their sliding surfaces and attain their desired values, and implement antidisturbance control. The asymptotic stability of all the sliding surfaces is proved theoretically, and simulation results show the controller's validity and its adaptive abilities for all kinds of extraneous disturbances.
WOS标题词	Science & Technology ; Technology
关键词[WOS]	FUZZY ; PENDUBOT ; CRANES
收录类别	SCI
语种	英语
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号	WOS:000225964500003
引用统计	被引频次：200[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/9031
专题	09年以前成果
作者单位	Chinese Acad Sci, Lab Complex Syst & Intelligence Sci, Beijing 100080, Peoples R China
推荐引用方式 GB/T 7714	Wang, W,Yi, J,Zhao, D,et al. Design of a stable sliding-mode controller for a class of second-order underactuated systems[J]. IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS,2004,151(6):683-690.
APA	Wang, W,Yi, J,Zhao, D,&Liu, D.(2004).Design of a stable sliding-mode controller for a class of second-order underactuated systems.IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS,151(6),683-690.
MLA	Wang, W,et al."Design of a stable sliding-mode controller for a class of second-order underactuated systems".IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS 151.6(2004):683-690.