Pendubot一种分层滑模控制方法_王伟.pdfVIP

22 3 控 制 理论与 应 用 Vo 1. 22 No . 3 2005 6 Control Theory Appl cat ons Jun. 2005 : 1000- 8152( 2005) 03- 04 17- 06 Pendubot 1 1 1 2 王 伟, 易建强, 赵冬斌, 刘殿通 ( 1. , 100080; 2. , 264005) : Pendubot . , , L yapuno v , Pendubot , , , Pendubot . , . : Pendubot ; ; ; : TP241 : A Hierarchical sliding_mode control of Pendubot 1 1 1 2 WANG We , YI J an_q ang , ZHAO Dong_b n , LIU D an_tong ( 1. Laboratory of complex systems and ntell gence sc ence , Inst tute of Automat on, Ch nese Academy of Sc ences, Be j ng 100080, Ch na ; 2. Inst tute of Computer Sc ence and T echnology , Y anta U n vers t y, Yanta Shandong 264005, Ch na) Abstract: A m ng at Pendubot , a new h erarch cal sl d ng_mode contro l method s presented . The system s states are d v d ed nto tw o parts. U s ng L yapuno v law , the sl d ng_mode control law can be der ved . The control law can sw ng Pendubot up to ts uppermost unstable equ l br um po s t on . When the system s states reach the equ l br um pos t on, the h erarch cal sl d ng_ mode contro ller degenerates to the monolayer controller , then the controller guarantees the Pendubot to stab l ze at the uppermost equ l br um pos t on. The asymptot c stab l ty of all sl d ng planes s also proved theoret cally, and the s mulat on results show the controller s val d ty and ts adapt ve ab l t es for outer d sturbances . Key words: Pendubot ; h erarch cal; sl d ng_mode control ; under_actu