Hierarchical double integral sliding-mode control for second-order underactuated systems

Syuan Yi Chen, Sheng Sian Gong

研究成果: 書貢獻/報告類型會議論文篇章

5 引文 斯高帕斯(Scopus)

摘要

This study presents a hierarchical double integral sliding-mode control (HDISMC) system for a class of second-order underactuated systems. First, the second order underactuated system is divided into two subsystems. Then, two levels double integral sliding surfaces are defined in HDISMC to drive the both subsystems toward the desired dynamics with an invariance property to uncertainties. In HDISMC, the control law is derived using Lyapunov theorem to guarantee the closed-loop stability. Moreover, the designed double integral sliding surface reinforces the control law with integral (I) control feature to eliminate the steady-state error more effectively. Finally, control simulation of an inverted pendulum cart system is given to illustrate the validities of the proposed control system using various operating conditions.

原文英語
主出版物標題CACS 2014 - 2014 International Automatic Control Conference, Conference Digest
發行者Institute of Electrical and Electronics Engineers Inc.
頁面173-178
頁數6
ISBN(電子)9781479945849
DOIs
出版狀態已發佈 - 2014 四月 28
事件2014 International Automatic Control Conference, CACS 2014 - Kaohsiung, 臺灣
持續時間: 2014 十一月 262014 十一月 28

出版系列

名字CACS 2014 - 2014 International Automatic Control Conference, Conference Digest

其他

其他2014 International Automatic Control Conference, CACS 2014
國家/地區臺灣
城市Kaohsiung
期間2014/11/262014/11/28

ASJC Scopus subject areas

  • 控制與系統工程

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