Hierarchical sliding mode control for a class of SIMO under-actuated systems

被引：0
|
作者：
Qian, Dianwei [1 ]
Yi, Jianqiang [1 ]
Zhao, Dongbin [1 ]
机构：
[1] Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence Sci, Beijing 100190, Peoples R China
来源：
CONTROL AND CYBERNETICS | 2008年 / 37卷 / 01期
关键词：
control approaches; control applications; sliding mode control; under-actuated 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：
A hierarchical sliding mode control approach is proposed for a class of SIMO under-actuated systems. This class of tinder-actuated systems is made up of several Subsystems. Based on this physical structure, the hierarchical structure of the sliding surfaces is designed as follows. At first, the sliding surface of every subsystem is defined. Then the sliding surface of one subsystem is defined as the first layer sliding surface. The first layer sliding surface is used to construct the second layer sliding surface with the sliding surface of another subsystem. This process continues till the sliding surfaces of the entire subsystems are included. According to the hierarchical structure, the total control law is deduced by the Lyapunov theorem. In theory, the asymptotic stability of the entire system of sliding surfaces is proven and the parameter boundaries of the subsystem sliding surfaces are given. Simulation results show the feasibility of this control method through two typical SIMO under-actuated systems.
引用
收藏
页码：159 / 175
页数：17
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