{"title":"一类欠驱动系统的鲁棒滑模控制器","authors":"K. Kherraz, M. Hamerlain, N. Achour","doi":"10.1109/STA.2014.7086751","DOIUrl":null,"url":null,"abstract":"Due to nonlinearities and uncertainties, the dynamic characteristics of underactuated systems are very difficult to obtain precisely. In this paper we develop a robust controller based on sliding mode control for the control of a class of underactuated systems. The stability of the proposed controller is proved with the Lyapunov function method. Simulation results made on a flexible link manipulator are given to illustrate effectiveness of our approach.","PeriodicalId":125957,"journal":{"name":"2014 15th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)","volume":"2016 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":"{\"title\":\"Robust sliding mode controller for a class of under-actuated systems\",\"authors\":\"K. Kherraz, M. Hamerlain, N. Achour\",\"doi\":\"10.1109/STA.2014.7086751\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Due to nonlinearities and uncertainties, the dynamic characteristics of underactuated systems are very difficult to obtain precisely. In this paper we develop a robust controller based on sliding mode control for the control of a class of underactuated systems. The stability of the proposed controller is proved with the Lyapunov function method. Simulation results made on a flexible link manipulator are given to illustrate effectiveness of our approach.\",\"PeriodicalId\":125957,\"journal\":{\"name\":\"2014 15th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)\",\"volume\":\"2016 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2014-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"9\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2014 15th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/STA.2014.7086751\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2014 15th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/STA.2014.7086751","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Robust sliding mode controller for a class of under-actuated systems
Due to nonlinearities and uncertainties, the dynamic characteristics of underactuated systems are very difficult to obtain precisely. In this paper we develop a robust controller based on sliding mode control for the control of a class of underactuated systems. The stability of the proposed controller is proved with the Lyapunov function method. Simulation results made on a flexible link manipulator are given to illustrate effectiveness of our approach.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
