Adaptive Sliding Mode Control for Hydraulic Support Robot Based on Reaching Law

被引：0
作者：
Li, Xie [1 ]
Zhu, Yuhao [1 ]
Zheng, Hui [1 ]
Yang, Zhen [1 ]
Wu, You [1 ]
Zhang, Tiefeng [2 ]
Shi, Weiyi [2 ]
Fu, Zhuang [1 ]
机构：
[1] State Key Lab Mech Syst & Vibrat, Shanghai 200240, Peoples R China
[2] Dachang Hosp, Shanghai, Peoples R China
来源：
2017 IEEE 7TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (CYBER) | 2017年
基金：
中国国家自然科学基金;
关键词：
COMPENSATION; SYSTEMS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Based on the dynamic analysis of hydraulic support system, a sliding mode controller is designed according to the dynamic coupling and time-varying characteristics. Sliding mode control has invariable parameter property and a strong adaptive ability to match uncertain factors. The exponential reaching law ensures that the system has fast convergence and little chattering phenomenon. Simulation results show that the sliding mode controller has better tracking performance, higher response speed and stronger anti-interference ability than the PM controller, thus the sliding mode controller has better control effect and motion quality.
引用
收藏
页码：914 / 919
页数：6
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