Global Sliding Mode Control on 3DOF-Hover System

被引：0

作者：

Song Li ^{[1
]}

Wu Qing-He ^{[1
]}

机构：

[1] Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China

来源：

PROCEEDINGS OF THE 29TH CHINESE CONTROL CONFERENCE | 2010年

关键词：

Moore-penrose; 3DOF-Hover; Sliding Mode Control; TRAJECTORY LINEARIZATION METHOD; DESIGN; UFO;

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：

For the 3DOF-hover model system with nonlinear, time-varying and strong coupling characters, an global sliding mode controller (GSMC) was designed to get great performance. However, for the linear systems whose input matrixes are singular we cannot use the sliding mode control method directly. In this paper, first, we take advantage of the penrose-moore to transformational input matrix into nonsingular, then we use the adaptive global sliding mode control method. Therefore, we can use the sliding mode control method to the similar systems. Simulation results show that this method is feasible, and better than LQR controller.

引用

页码：2223 / 2227

页数：5