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Structure design of two types of sliding-mode controllers for a class of under-actuated mechanical systems
Wang, W.; Liu, X. D.; Yi, J. Q.
2007
发表期刊IET CONTROL THEORY AND APPLICATIONS
卷号1期号:1页码:163-172
文章类型Article
摘要On the basis of sliding-mode control, two sliding-mode controller models based on incremental hierarchical structure and aggregated hierarchical structure for a class of under-actuated systems are presented. The design steps of the two types of sliding-mode controllers and the principle of choosing parameters are given. At the same time, to guarantee the system's stability, two determinant theorems are presented. Then, by theoretical analysis, the two types of sliding-mode controllers are proved to be globally stable in the sense that all signals involved are bounded. The simulation results show the validity of the methods. Therefore an academic foundation for the development of high-dimension under-actuated mechanical systems is provided.
WOS标题词Science & Technology ; Technology
关键词[WOS]STABILIZATION ; 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:000245667400021
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/9434
专题09年以前成果
作者单位1.Beijing Inst Technol, Dept Automat Control, Sch Informat Sci & Technol, Beijing 100081, Peoples R China
2.Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligenence Sci, Beijing 100080, Peoples R China
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Wang, W.,Liu, X. D.,Yi, J. Q.. Structure design of two types of sliding-mode controllers for a class of under-actuated mechanical systems[J]. IET CONTROL THEORY AND APPLICATIONS,2007,1(1):163-172.
APA Wang, W.,Liu, X. D.,&Yi, J. Q..(2007).Structure design of two types of sliding-mode controllers for a class of under-actuated mechanical systems.IET CONTROL THEORY AND APPLICATIONS,1(1),163-172.
MLA Wang, W.,et al."Structure design of two types of sliding-mode controllers for a class of under-actuated mechanical systems".IET CONTROL THEORY AND APPLICATIONS 1.1(2007):163-172.
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