Finite time control of nonlinear underactuated systems using terminal sliding surface
Finite time control of nonlinear underactuated systems using terminal sliding surface
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DOI：
10.1109/isie.2009.5220307
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发表时间：
2009-07
期刊：
影响因子：
--
通讯作者：
Sin-Ho Lee;Jin Bae Park;Y. Choi
中科院分区：
文献类型：
--
作者：
Sin-Ho Lee;Jin Bae Park;Y. Choi
针对非线性欠驱动系统，提出了一种递阶终端滑模控制方法，使系统在有限时间内达到零误差。这里，控制器具有双层结构，因为系统被分为两个分层的子系统。在第一层中，对每个子系统分层设计终端滑动面，在第二层中，将整个滑动面设计为终端滑动面的线性组合。由于控制器是基于终端滑动面的，所以通过李雅普诺夫分析证明了系统的渐近稳定性。最后，以桥式起重机系统为例进行了仿真，验证了所提控制方案的有效性。
In this paper, we propose a hierarchical terminal sliding mode control approach for nonlinear underactuated systems which cna drive the error to zero in a finite time. Here, the controller has the double layer structure because the system is divided into two hierarchical subsystems. In the first layer, the terminal sliding surfaces are hierarchically designed for each subsystem, and in the second layer, the whole sliding surface i designed as the linear combination of terminal sliding surfaces. The asymptotic stability of the system is verified by Lyapunov analysis because the controller is based on terminal sliding sufrace. Finally, we carry out simulation on a representative underactuated systems such as the overhead crane system, to illustrate the effectiveness of the proposed control scheme.