Fast Terminal Synergetic Control of Underactuated System
Fast Terminal Synergetic Control of Underactuated System
复制标题
欠驱动系统末端快速协同控制
DOI：
10.1109/ssd.2018.8570473
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
K. Behih
中科院分区：
文献类型：
--
作者：
Djamila Zehar;A. Chérif;K. Benmahammed;K. Behih
近年来，欠驱动系统的控制已成为一个活跃的研究领域。欠驱动特性是指系统的驱动器数量少于其自由度。欠驱动系统是为了降低系统的成本、重量和能耗而设计的。本文考虑了快速终端协同学在一类二阶欠驱动机械系统的控制问题中的应用，以保证系统的快速有限时间稳定性。这种控制策略被认为是解决抖振现象，这是一个很大的问题，在滑模控制。整个系统的宏观变量采用递阶结构构造。最后给出了仿真结果，证明了所研究的控制方法的有效性。
In the last few years, control of underactuated systems has become an active field of research. The underactuated property means that the system has less number of actuators than their degrees of freedom. Underactuated systems are constructed by the reason of reducing cost weight and consumed energy. In this paper we consider the application of the fast terminal synergetic to the control problem of a class of second order underactuated mechanical systems in order to guarantee the fast finite-time stability. This strategy of control is considered as a solution of the chattering phenomenon, which is a big problem in sliding mode control. The macro-variables are constructed for the whole system in hierarchical structure. We give some simulation results in the end of this work, to prove the effectiveness of the studied control.