滑模控制
控制理论(社会学)
欠驱动
非线性系统
班级(哲学)
模式(计算机接口)
变结构控制
计算机科学
控制工程
控制(管理)
工程类
物理
人工智能
量子力学
操作系统
作者
Biao Lu,Yongchun Fang,Ning Sun
出处
期刊:IEEE Transactions on Automatic Control
[Institute of Electrical and Electronics Engineers]
日期:2018-01-17
卷期号:63 (10): 3471-3478
被引量:82
标识
DOI:10.1109/tac.2018.2794885
摘要
Sliding mode control (SMC), which is known to present strong robustness against various disturbances, has been extensively employed on underactuated systems, whose control problem has been a research focus in recent years. However, though received great attention, the study on SMC for underactuated systems still remains quite open since it is very challenging to construct a proper manifold which can simultaneously stabilize both actuated and unactuated system states. Motivated to promote the corresponding research, we propose an improved second-order SMC (IS-SMC) method for a class of nonlinear underactuated systems in this paper, which guarantees that the closed-loop system's equilibrium point is asymptotically stable even in the presence of unknown nondiminishing disturbances. Different from traditional SMC methods presenting with chattering problem, the control inputs of the proposed method are essentially continuous, which brings much convenience for practical applications. Moreover, for the disturbances which are second-order differentiable, an enhanced IS-SMC (EIS-SMC) method is derived to guarantee the smoothness for both the control inputs and their derivatives. Finally, the proposed approach is applied to a practical underactuated system: The overhead crane system, with sufficient simulation results provided to validate the efficiency of the proposed method.
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