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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
2004-11-01
发表期刊IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS
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:144[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.
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