Sliding Mode Control with Nonlinear Disturbance Observer for a Class of Underactuated System

被引：0
作者：
Huang Jian [1 ,2 ]
Ding Feng [2 ]
Wang Yongji [2 ]
机构：
[1] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150001, Peoples R China
[2] Huazhong Univ Sci & Technol, Dept Control Sci & Engn, Wuhan 430074, Peoples R China
来源：
2013 32ND CHINESE CONTROL CONFERENCE (CCC) | 2013年
基金：
中国国家自然科学基金;
关键词：
underactuated system; cascaded form; sliding mode control; nonlinear disturbance observer; OVERHEAD CRANE; DESIGN;
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：
In this study, a sliding mode controller based on nonlinear disturbance observer is investigated to control a class of underactuated system which is in cascaded form. By using strict feedback, the underactuated system is presented as a special cascade normal form convenient for controller design. A sliding mode controller is designed to stabilize underacturated plant directly and drive the variables to the sliding surface. In order to improve performance and robustness, a nonlinear disturbance observer was designed to compensate for external disturbances and model uncertainties. The theoretical results are illustrated by simulations on the acrobot. The simulation results show that the sliding mode controller with nonlinear disturbance observer can suppress the disturbance effectively.
引用
收藏
页码：541 / 546
页数：6
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