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Robust sliding mode control for a class of underactuated systems with mismatched uncertainties

文献类型：期刊论文

作者Qian, D. W.1; Liu, X. J.1; Yi, J. Q.2
刊名PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
出版日期2009-09-01
卷号223期号:I6页码:785-795
关键词robust control sliding mode underactuated system uncertainty
英文摘要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.
WOS标题词Science & Technology ; Technology
类目[WOS]Automation & Control Systems
研究领域[WOS]Automation & Control Systems
关键词[WOS]EULER-LAGRANGE SYSTEMS ; MECHANICAL SYSTEMS ; STABILIZATION ; DESIGN ; MOTION
收录类别SCI
语种英语
WOS记录号WOS:000271001300007
公开日期2015-12-24
源URL[http://ir.ia.ac.cn/handle/173211/9978]  
专题自动化研究所_综合信息系统研究中心
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
推荐引用方式
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.

入库方式： OAI收割

来源：自动化研究所

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