Pendubot的一种分层滑模控制方法

Hierarchical sliding-mode control of Pendubot

针对Pendubot这类二阶欠驱动系统提出了一种分层滑模控制方法.该方法将系统状态分成两个子系统,分别构造滑动平面,采用Lyapunov方法求取总控制量,该控制量可以实现Pendubot的摆起控制,当系统接近平衡位置附近时,双层滑模控制器退化成单层控制器,这样又保证了Pendubot能够稳定在最终的平衡位置上.从理论上证明了各层滑动平面的渐近稳定性,并且通过仿真实验验证了该方法的有效性以及该控制器对各类扰动的自适应性.

<Abstrcat> Aiming at Pendubot,a new hierarchical sliding-mode control method is presented.The system's states are divided into two parts.Using Lyapunov law,the sliding-mode control law can be derived.The control law can swing Pendubot up to its uppermost unstable equilibrium position.When the system's states reach the equilibrium position,the hierarchical sliding-mode controller degenerates to the monolayer controller,then the controller guarantees the Pendubot to stabilize at the uppermost equilibrium position.The asymptotic stability of all sliding planes is also proved theoretically,and the simulation results show the controller's validity and its adaptive abilities for outer disturbances.