Sliding mode control of a class of underactuated systems

被引：397
|
作者：
Xu, Rong [1 ]
Ozguener, Umit [1 ]
机构：
[1] Ohio State Univ, Dept Elect & Comp Engn, Columbus, OH 43210 USA
来源：
AUTOMATICA | 2008年 / 44卷 / 01期
关键词：
sliding mode control; underactuated;
D O I：
10.1016/j.automatica.2007.05.014
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A sliding mode control approach is proposed to stabilize a class of underactuated systems which are in cascaded form. This class of underactuated systems can represent many real applications after transformations. In the controller design, the sliding surface is designed to stabilize the indirectly controlled modes. Its insensitivity to the model errors, parametric uncertainties and other disturbances and its ability to globally stabilize the system are two advantages of the sliding mode controller. (C) 2007 Elsevier Ltd. All rights reserved.
引用
收藏
页码：233 / 241
页数：9
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