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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.
Source PublicationIET CONTROL THEORY AND APPLICATIONS
2007
Volume1Issue:1Pages:163-172
SubtypeArticle
AbstractOn 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 HeadingsScience & Technology ; Technology
WOS KeywordSTABILIZATION ; 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:000245667400021
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/9434
Collection09年以前成果
Affiliation1.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
Recommended Citation
GB/T 7714
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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