西南交通大学学报2011，Vol.46Issue(1)：115-120,6.DOI:10.3969/j.issn.0258-2724.2011.01.018
考虑外部扰动的Acrobot机器人系统滑模控制
Sliding Mode Control of Acrobot Robot with External Disturbance
摘要
Abstract
To increase the anti-disturbance ability of Acrobot systems, a dynamic model for the underactuated Acrobot system was built, and a silding mode control strategy for the system was proposed. In the strategy, the model in cascade normal form is expanded to the common form with disturbance term, and the hyperolic tangent function is used to substitute the sign function to eliminate chattering. The Acobot system with the proposed control strategy was proved asymptotically stable and robust using Lyapunov theory and perturbation theory. This method can be applied to other underactuated systems. Simulation results show the effectiveness of the proposed control strategy to Acrobot balance control.关键词
滑模控制/级联规范型/欠驱动系统/Acrobot分类
信息技术与安全科学引用本文复制引用
王中华,杨洁,程金,张勇..考虑外部扰动的Acrobot机器人系统滑模控制[J].西南交通大学学报,2011,46(1):115-120,6.基金项目
国家自然科学基金资助项目(61074021,60904024) （61074021,60904024）
山东省自然科学基金重点资助项目(ZR2009GZ005) （ZR2009GZ005）
