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Hierarchical sliding mode control for a class of SIMO under-actuated systems
Qian, Dianwei; Yi, Jianqiang; Zhao, Dongbin
Source PublicationCONTROL AND CYBERNETICS
2008
Volume37Issue:1Pages:159-175
SubtypeArticle
AbstractA hierarchical sliding mode control approach is proposed for a class of SIMO under-actuated systems. This class of tinder-actuated systems is made up of several Subsystems. Based on this physical structure, the hierarchical structure of the sliding surfaces is designed as follows. At first, the sliding surface of every subsystem is defined. Then the sliding surface of one subsystem is defined as the first layer sliding surface. The first layer sliding surface is used to construct the second layer sliding surface with the sliding surface of another subsystem. This process continues till the sliding surfaces of the entire subsystems are included. According to the hierarchical structure, the total control law is deduced by the Lyapunov theorem. In theory, the asymptotic stability of the entire system of sliding surfaces is proven and the parameter boundaries of the subsystem sliding surfaces are given. Simulation results show the feasibility of this control method through two typical SIMO under-actuated systems.
KeywordControl Approaches Control Applications Sliding Mode Control Under-actuated Systems
WOS HeadingsScience & Technology ; Technology
WOS KeywordDOUBLE INVERTED PENDULUM ; MECHANICAL SYSTEMS ; OVERHEAD CRANE ; FUZZY CONTROL ; STABILIZATION ; PENDUBOT ; STRATEGY
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Computer Science
WOS SubjectAutomation & Control Systems ; Computer Science, Cybernetics
WOS IDWOS:000258635200007
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/9624
Collection09年以前成果
Corresponding AuthorQian, Dianwei
AffiliationChinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence Sci, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
Qian, Dianwei,Yi, Jianqiang,Zhao, Dongbin. Hierarchical sliding mode control for a class of SIMO under-actuated systems[J]. CONTROL AND CYBERNETICS,2008,37(1):159-175.
APA Qian, Dianwei,Yi, Jianqiang,&Zhao, Dongbin.(2008).Hierarchical sliding mode control for a class of SIMO under-actuated systems.CONTROL AND CYBERNETICS,37(1),159-175.
MLA Qian, Dianwei,et al."Hierarchical sliding mode control for a class of SIMO under-actuated systems".CONTROL AND CYBERNETICS 37.1(2008):159-175.
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