VARIABLE STRUCTURE CONTROL OF NONLINEAR-SYSTEMS - A NEW APPROACH

被引：809
|
作者：
GAO, WB
HUNG, JC
机构：
[1] Seventh Research Division, Beijing University of Aeronautics and Astronautics.
[2] Electrical and Computer Engineering Department, The University of Tennessee, Knoxville
来源：
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 1993年 / 40卷 / 01期
关键词：
Invariance - Robustness (control systems);
D O I：
10.1109/41.184820
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a new approach for the design of variable structure control (VSC) of nonlinear systems. The approach is based on a new method called the reaching law method, and is complemented by a sliding mode equivalence technique. They facilitate the design of the system dynamics in all three modes of a VSC system including the sliding, reaching, and steady-state modes. Invariance and robustness properties are discussed. The approach is applied to a robot manipulator to demonstrate its effectiveness.
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页码：45 / 55
页数：11
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