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Hierarchical sliding mode control for a class of SIMO under-actuated systems
Qian, Dianwei; Yi, Jianqiang; Zhao, Dongbin
2008
发表期刊CONTROL AND CYBERNETICS
卷号37期号:1页码:159-175
文章类型Article
摘要A 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.
关键词Control Approaches Control Applications Sliding Mode Control Under-actuated Systems
WOS标题词Science & Technology ; Technology
关键词[WOS]DOUBLE INVERTED PENDULUM ; MECHANICAL SYSTEMS ; OVERHEAD CRANE ; FUZZY CONTROL ; STABILIZATION ; PENDUBOT ; STRATEGY
收录类别SCI
语种英语
WOS研究方向Automation & Control Systems ; Computer Science
WOS类目Automation & Control Systems ; Computer Science, Cybernetics
WOS记录号WOS:000258635200007
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/9624
专题09年以前成果
通讯作者Qian, Dianwei
作者单位Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence Sci, Beijing 100190, Peoples R China
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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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