DECOUPLED TERMINAL SLIDING-MODE CONTROL FOR A CLASS OF UNDER-ACTUATED MECHANICAL SYSTEMS WITH HYBRID SLIDING SURFACES

Guoliang Zhao; Can Zhao; Junting Cheng

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DECOUPLED TERMINAL SLIDING-MODE CONTROL FOR A CLASS OF UNDER-ACTUATED MECHANICAL SYSTEMS WITH HYBRID SLIDING SURFACES

机译：一类带有混合滑动表面的欠驱动机械系统的解耦终端滑模控制

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This paper presents two fast decoupled sliding-mode controllers with hybrid sliding surfaces for a class of under-actuated mechanical systems. The proposed method not only exhibits a simpler structure compared with the existing decoupled control methods, but also eliminates the need for using fuzzy rules without degradation in performance. A cart-pole system and translational oscillations by a rotational actuator (TORA) system are simulated, and experiments on cart-pole system are carried out. Simulation results and experimental results have shown a considerable improvement of the proposed method in terms of a faster dynamic response as compared with the existing decoupled sliding mode control methods.

机译：本文针对一类欠驱动机械系统，提出了两个具有混合滑动表面的快速解耦滑模控制器。所提出的方法不仅与现有的解耦控制方法相比具有更简单的结构，而且消除了使用模糊规则而不降低性能的需求。模拟了磁极系统和旋转致动器（TORA）产生的平移振荡，并进行了磁极系统的实验。仿真结果和实验结果表明，与现有的解耦滑模控制方法相比，该方法在更快的动态响应方面有了很大的改进。

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来源
《International Journal of Innovative Computing Information and Control》 |2014年第6期|2011-2023|共13页
作者
Guoliang Zhao; Can Zhao; Junting Cheng;
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作者单位

Modern Manufacture Engineering Center Heilongjiang University of Science and Technology No. 2468, Puyuan Road, Songbei District, Harbin 150027, P. R. China;

Modern Manufacture Engineering Center Heilongjiang University of Science and Technology No. 2468, Puyuan Road, Songbei District, Harbin 150027, P. R. China;

Modern Manufacture Engineering Center Heilongjiang University of Science and Technology No. 2468, Puyuan Road, Songbei District, Harbin 150027, P. R. China;

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正文语种 eng
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关键词
Sliding-mode control; Decoupled sliding-mode control; Fast terminal sliding-mode control; Hybrid sliding surface;

机译：滑模控制;解耦滑模控制;快速终端滑模控制;混合滑动面;

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DECOUPLED TERMINAL SLIDING-MODE CONTROL FOR A CLASS OF UNDER-ACTUATED MECHANICAL SYSTEMS WITH HYBRID SLIDING SURFACES

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