Cascade sliding-mode controller for large-scale underactuated systems

被引：0
|
作者：
Yi, JQ [1 ]
Wang, W [1 ]
Zhao, DB [1 ]
Liu, XJ [1 ]
机构：
[1] Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence Sci, Beijing, Peoples R China
来源：
2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 | 2005年
关键词：
cascade; sliding-mode control; underactuated system; stability; overhead crane;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
On the basis of sliding mode control, a new cascade sliding-mode controller (CSMC) for a class of large-scale underactuated systems is proposed. The large-scale underactuated systems include several subsystems. Firstly, two states are chosen to construct the first-layer sliding surface. Secondly, the first-layer sliding surface and one of the left states are used to construct the second-layer sliding surface. This process continues till the last-layer sliding surface is obtained. By theoretical analysis, the cascade stiding-mode controller is proved to be globally stable in the sense that all signals involved are bounded. The simulation results show the validity of this method.
引用
收藏
页码：3194 / 3199
页数：6
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