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Robust sliding mode control for a class of underactuated systems with mismatched uncertainties
Qian, D. W.1; Liu, X. J.1; Yi, J. Q.2
2009-09-01
发表期刊PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
卷号223期号:I6页码:785-795
文章类型Article
摘要Based on the sliding mode control methodology, this paper presents a robust control strategy for underactuated systems with mismatched uncertainties. The system consists of a nominal system and the mismatched uncertainties. Since the nominal system can be considered to be made up of several subsystems, a hierarchical structure for the sliding surfaces is designed. This is achieved by taking the sliding surface of one of the subsystems as the first-layer sliding surface and using this sliding surface and the sliding surface of another subsystem to construct the second-layer sliding surface. This process continues till the sliding surfaces of all the subsystems are included. A lumped sliding mode compensator is designed at the last-layer sliding surface. The asymptotic stability of all of the layer sliding surfaces and the sliding surface of each subsystem is proven. Simulation results show the validity of this robust control method through stabilization control of a system consisting of two inverted pendulums and mismatched uncertainties.
关键词Robust Control Sliding Mode Underactuated System Uncertainty
WOS标题词Science & Technology ; Technology
关键词[WOS]EULER-LAGRANGE SYSTEMS ; MECHANICAL SYSTEMS ; STABILIZATION ; DESIGN ; MOTION
收录类别SCI
语种英语
WOS研究方向Automation & Control Systems
WOS类目Automation & Control Systems
WOS记录号WOS:000271001300007
引用统计
被引频次:17[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/173211/9978
专题综合信息系统研究中心
通讯作者Qian, D. W.
作者单位1.N China Elect Power Univ, Dept Automat, Beijing 102206, Peoples R China
2.Chinese Acad Sci, Lab Complex Syst & Intelligence Sci, Beijing, Peoples R China
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GB/T 7714
Qian, D. W.,Liu, X. J.,Yi, J. Q.. Robust sliding mode control for a class of underactuated systems with mismatched uncertainties[J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING,2009,223(I6):785-795.
APA Qian, D. W.,Liu, X. J.,&Yi, J. Q..(2009).Robust sliding mode control for a class of underactuated systems with mismatched uncertainties.PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING,223(I6),785-795.
MLA Qian, D. W.,et al."Robust sliding mode control for a class of underactuated systems with mismatched uncertainties".PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING 223.I6(2009):785-795.
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