不确定欠驱动系统的高阶自适应Super-Twisting滑模控制<sup>*</sup>

Abstract
Figure/Table
References
Related Citation (10)

Download: PDF (503 KB) HTML (1 KB)
Export: BibTeX | EndNote (RIS)

Abstract To achieve good robustness against disturbances for a class of uncertain underactuated systems, a second-order adaptive sliding mode control method is proposed based on quadratic Lyapunov function to reduce the inherent chattering of conventional sliding mode control (SMC). Firstly, a second-order super-twisting algorithm is used by the discontinuous part of controller, which acts on the second-order derivative of sliding mode variables. Secondly, as for the effects of unknown disturbances on sliding mode surface, an adaptive law is designed to adjust the parameters. This method eliminates the restriction of the first derivative of disturbances boundary being known in the traditional second-order sliding mode control, which not only keeps convergence of sliding mode surface but also reduces chattering. Finally, a two-wheeled self-balancing cart is used to test the proposed approach. The simulation results show that compared with conventional SMC and ordinary second-order SMC, the proposed method outperforms the above methods on effectiveness and reducing chattering.

Received: 06 May 2013

ZTFLH:

TP273

	Service

	E-mail this article
	Add to my bookshelf
	Add to citation manager
	E-mail Alert
	RSS
	Articles by authors
	YANG Xing-Ming
	GAO Yin-Ping

Cite this article:

YANG Xing-Ming,GAO Yin-Ping. High-Order Adaptive Super-Twisting Sliding Mode Control forUncertain Underactuated Systems[J]. , 2014, 27(9): 808-814.

URL:

http://manu46.magtech.com.cn/Jweb_prai/EN/ OR http://manu46.magtech.com.cn/Jweb_prai/EN/Y2014/V27/I9/808

[1] Gao W B. Variable Structure Control Theory and Design Method. Beijing, China: Science Press, 1996: 205-233 (in Chinese)
(高为炳.变结构控制的理论及设计方法.北京:科学出版社, 1996: 205-233)
[2] Liu J K, Sun F C. Research and Development on Theory and Algorithms of Sliding Mode Control. Control Theory and Applications, 2007, 24(3): 407-418 (in Chinese)
(刘金琨,孙富春.滑模变结构控制理论及其算法研究与进展.控制理论与应用, 2007, 24(3): 407-418)
[3] Levantovsky L V, Levant A. Higher Order Sliding Modes and Their Application for Controlling Uncertain Process. Ph. D Dissertation. Moscow, Russia: Institute for System Studies of the USSR Academy of Science, 1987
[4] Levant A. Sliding Order and Sliding Accuracy in Sliding Mode Control. International Journal of Control, 1993, 58(6): 1247-1263
[5] Li P, Zheng Z Q. Convergence of Super-Twisting Algorithm Based on Quadratic-like Lyapunov Function. Control and Decision, 2011, 26(6): 949-952 (in Chinese)
(李鹏,郑志强.基于类二次型Lyapunov函数的Super-Twisting算法收敛性分析.控制与决策, 2011, 26(6): 949-952)
[6] Chen X, Wei H H, Zhang Y B. Modeling of Dual-Wheel Cart-Inverted Pendulum and Robust Variance Control. Computer Simulation, 2006, 23(3): 263-266 (in Chinese)
(陈星,魏衡华,张玉斌.二轮行走倒立摆系统建模与鲁棒方差控制.计算机仿真, 2006, 23(3): 263-266)
[7] Wang W, Yi J, Zhao D, et al. Design of a Stable Sliding-Mode Controller for a Class of Second-Order Underactuated Systems. IEE Proceedings-Control Theory and Applications, 2004, 151(6): 683-690
[8] Huang Q, Zhou H Y, Ling R. Application of Second Order Sliding Mode to Brushless DC Motor Speed Control. Computer Engineering and Applications, 2011, 47(6): 243-245, 248 (in Chinese)
(黄勤,周海燕,凌睿.二阶滑模控制在直流无刷电机转速调节中的应用.计算机工程与应用, 2011, 47(6): 243-245, 248)
[9] Agwan M, Janardhanan S, Dewan L. A Robust Higher Order Sliding Mode Control of Rigid Robot Manipulator // Proc of the 4th International Conference on Modelling, Identification and Control. Wuhan, China, 2012: 917-920
[10] Geng J, Sheng Y Z, Liu X D, et al. Second-Order Time-Varying Sliding Mode Control for Uncertain Systems // Proc of the 25th Chinese Control and Decision Conference. Guiyang, China, 2013: 25-27
[11] Pisano A, Usai E. Sliding Mode Control: A Survey with Applications in Math. Mathematics and Computers in Simulation, 2011, 81(5): 954-979
[12] Levant A. Robust Exact Differentiation via Sliding Mode Technique. Automatica, 1998, 34(3): 379-384
[13] Davila J, Fridman L, Levant A. Second-Order Sliding Mode Observer for Mechanical Systems. IEEE Trans on Automatic Control, 2005, 50(11): 1785-1789
[14] Li P. Research and Application of Traditional and Higher-Order Sliding Mode Control. Ph.D Dissertation. Changsha, China: National University of Defense Technology, 2011 (in Chinese)
(李鹏.传统和高阶滑模控制研究及其应用.博士学位论文.长沙:国防科学技术大学, 2011)
[15] Shtessel Y B, Moreno J A, Plestan F, et al. Super-Twisting Adaptive Sliding Mode Control: A Lyapunov Design // Proc of the 49th IEEE Conference on Decision and Control. Atlanta, USA, 2010: 5109-5113
[16] Kochalummoottil J, Shtessel Y B, Moreno J A. Adaptive Twist Sliding Mode Control: A Lyapunov Design // Proc of the 50th IEEE Conference on Decision and Control and European Control Conference. Orlando, USA, 2011: 7623-7628
[17] Yang X M,Yu Z Y. The Design of Switch Fuzzy Pole Placement Controller for Two-Wheel Mobile Inverted Pendulum. Journal of Circuits and Systems, 2012, 17(4): 58-62 (in Chinese)
(杨兴明,余忠宇.两轮移动倒立摆的开关切换模糊极点配置控制器设计.电路与系统学报, 2012, 17(4): 58-62)
[18] Guendouzi A, Boubakir A, Hamerlain M. Higher Order Sliding Mode Control of Robot Manipulator // Proc of the 9th International Conference on Autonomic and Autonomous Systems. Lisbon, Portugal, 2013: 61-66
[19] Ackemann J, Utkin V. Sliding Mode Control Design Based on Ackermann′s Formula. IEEE Trans on Automatic Control, 1998, 43(2): 234-237
[20] Liu J K. MATLAB Simulation for Sliding Mode Control. Beijing, China: Tsinghua University Press, 2005: 279-298 (in Chinese)
(刘金琨.滑模变结构控制MATLAB仿真.北京:清华大学出版社, 2005: 279-298)