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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
Source PublicationIEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS
2004-11-01
Volume151Issue:6Pages:683-690
SubtypeArticle
AbstractA 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 HeadingsScience & Technology ; Technology
WOS KeywordFUZZY ; PENDUBOT ; CRANES
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS IDWOS:000225964500003
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/9031
Collection09年以前成果
AffiliationChinese Acad Sci, Lab Complex Syst & Intelligence Sci, Beijing 100080, Peoples R China
Recommended Citation
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.
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