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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
Source PublicationPROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
2009-09-01
Volume223Issue:I6Pages:785-795
SubtypeArticle
AbstractBased 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.
KeywordRobust Control Sliding Mode Underactuated System Uncertainty
WOS HeadingsScience & Technology ; Technology
WOS KeywordEULER-LAGRANGE SYSTEMS ; MECHANICAL SYSTEMS ; STABILIZATION ; DESIGN ; MOTION
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems
WOS SubjectAutomation & Control Systems
WOS IDWOS:000271001300007
Citation statistics
Cited Times:19[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/9978
Collection综合信息系统研究中心
Corresponding AuthorQian, D. W.
Affiliation1.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
Recommended Citation
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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