Cascade sliding-mode controller for large-scale underactuated systems

被引：0

作者：

Yi, JQ ^{[1
]}

Wang, W ^{[1
]}

Zhao, DB ^{[1
]}

Liu, XJ ^{[1
]}

机构：

[1] Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence Sci, Beijing, Peoples R China

来源：

2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 | 2005年

关键词：

cascade; sliding-mode control; underactuated system; stability; overhead crane;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

On the basis of sliding mode control, a new cascade sliding-mode controller (CSMC) for a class of large-scale underactuated systems is proposed. The large-scale underactuated systems include several subsystems. Firstly, two states are chosen to construct the first-layer sliding surface. Secondly, the first-layer sliding surface and one of the left states are used to construct the second-layer sliding surface. This process continues till the last-layer sliding surface is obtained. By theoretical analysis, the cascade stiding-mode controller is proved to be globally stable in the sense that all signals involved are bounded. The simulation results show the validity of this method.

引用

页码：3194 / 3199

页数：6

共 13 条

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