A Synthesized Integral Sliding Mode Controller for a Class of Underactuated Systems

被引：0
|
作者：
Zhao Wenrui [1 ]
Pan Haibing [2 ]
机构：
[1] Beijing Modern Vocat & Tech Coll, Dept Mech & Elect Engn, Beijing, Peoples R China
[2] Huazhong Agr Univ, Coll Engn, Wuhan, Peoples R China
来源：
2011 INTERNATIONAL CONFERENCE ON COMPUTERS, COMMUNICATIONS, CONTROL AND AUTOMATION (CCCA 2011), VOL II | 2010年
关键词：
integral sliding mode controller; underactuated system; synthedized;
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：
In the paper, we put forward a synthesis ISMC for a kind of underactuated system. In slide down, matching the uncertainty is completely rejected. Sliding manifold stability of different kinds of unmatched uncertainties are discussed. Numerical simulation results of validation system show unicycle and robustness of the controller.
引用
收藏
页码：385 / 388
页数：4
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