| 非线性仿射控制系统的高阶滑模控制 |
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| 引用本文： | 胡跃明, 晁红敏, 李志权, 梁天培. 非线性仿射控制系统的高阶滑模控制. 自动化学报, 2002, 28(2): 284-289. |
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| 作者姓名： | 胡跃明 晁红敏 李志权 梁天培 |
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| 作者单位： | 1.华南理工大学自动控制工程系,广州;;;2.香港理工大学工程学院,香港·九龙·红石勘 |
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| 基金项目： | “八六三”高技术研究发展计划智能机器人主题资助 (980 5 -1 9)，国家自然科学基金(699740 1 5 )，广东省科学基金(990 5 83 )，广东省教育厅资助 |
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| 摘 要： | 研究非线性仿射系统的高阶滑模控制问题.通过适当的输入及非线性状态变换将系统分解为一个关于切换变量及其高阶导数的低阶线性子系统和一个关于滑模的低阶非线性子系统,进而给出了其高阶滑模控制器的设计方法.最后,对两轮驱动的非完整移动机器人进行了数值仿真,结果表明高阶滑模控制在抖振减弱方面确实具有一定的作用.
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| 关 键 词： | 非线性系统 滑模控制 滑动阶 非完整机器人 |
| 收稿时间： | 1999-12-10 |
| 修稿时间： | 1999-12-10 |
HIGH-ORDER SLIDING MODE CONTROL OF NONLINEAR AFFINE CONTROL SYSTEMS |
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| HU Yue-Ming, CHAO Hong-Min, LEE Chi-Kuen, LEUNG Tin-Pui. High-Order Sliding Mode Control of Nonlinear Affine Control Systems. ACTA AUTOMATICA SINICA, 2002, 28(2): 284-289. |
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| Authors: | HU Yue-Ming CHAO Hong-Min LEE Chi-Kuen LEUNG Tin-Pui |
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| Affiliation: | 1. Department of Automatic Contrd Engineering,South China University of Technology,Guangzhou;Faculty of Engineering,Hong Kong Polytechnic University,Hung Hom,kowloon,Hong Kong |
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| Abstract: | This paper addresses the high order sliding mode control problem of nonlinear affine systems. By proper input and nonlinear state transformations, the system is first decomposed into two low dimensional subsystems: the linear subsystem involves the switching functions and related derivatives, and the nonlinear subsystem describes the sliding mode motion. A high order sliding mode control law is then developed to achieve high order sliding mode motion with prescribed dynamics. Finally, numerical simulations are performed for the posture model of a two wheel driven nonholonomic mobile robot, and the results show that the proposed approach has considerable potentialities to lessen the chattering of sliding mode control systems. |
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| Keywords: | Nonlinear systems sliding mode control sliding order nonholonomic robot |
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