Adaptive Sliding Mode Controller for a Class of Second-order Underactuated Systems

摘要：

An adaptive hierarchical sliding-mode control (AHSMC) strategy for a class of second-order underactuated systems is presented. First, the whole system is divided into two subsystems. A first-level sliding surface is defined for each subsystem. Then a second-level sliding surface is defined for these two-level sliding surfaces. The AHSMC law is derived in Lyapunov sense when the uncertainties are bounded by an unknown constant. Therefore, the whole system can be drive to its sliding surface and stable. Finally the simulation results show the validity of the proposed method.

关键词： Underactuated System Adaptive Control Sliding Mode Control

作者: Yan Min-xiu Jing Yuan-wei He You-guo Sun Ping

作者单位: College of Information Engineering, Shenyang Institute of Chemical Technology, Shenyang 110042, Chin College of Information Science and Engineering, Northeastern University, Shenyang 110004, China Faculty of Information Engineering, Shenyang University, Shenyang 110044, China School of Information Science and Engineering, Shenyang University of Technology, Shenyang 110178, C

会议类型: 国际会议

会议名称: 2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)

会议地点: 广西桂林

会议语种:英文

页码: 2782-2786

在线出版日期: 2009-06-17（万方平台首次上网日期，不代表论文的发表时间）