Integral sliding mode control of an extended Heisenberg system

被引：23
|
作者：
Defoort, M. [1 ]
Floquet, T. [2 ]
Perruquetti, W. [2 ]
Drakunov, S. V. [3 ]
机构：
[1] Ecole Mines Douai, F-59508 Douai, France
[2] CNRS, Ecole Cent Lille, LAGIS, UMR 8146, F-59651 Villeneuve Dascq, France
[3] Embry Riddle Aeronaut Univ, Dept Phys Sci, Daytona Beach, FL 32114 USA
来源：
IET CONTROL THEORY AND APPLICATIONS | 2009年 / 3卷 / 10期
关键词：
MOBILE ROBOTS; EXPONENTIAL STABILIZATION; TRACKING CONTROL; DESIGN;
D O I：
10.1049/iet-cta.2007.0480
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 study deals with the practical robust stabilisation and tracking problems of the perturbed multidimensional Heisenberg system with some additional integrators in the control input path. This objective is achieved by the use of variable structure control laws with an integral augmented sliding variable. This note shows how to select the integral sliding surface in such a way that the practical stabilisation of the extended Heisenberg system is achieved in spite of the uncertainties and without loss of controllability. Experimental results on a wheeled mobile robot show the performance of the proposed controller for the practical stabilisation and tracking problems.
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页码：1409 / 1424
页数：16
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