东北大学学报（自然科学版）

东北大学学报(自然科学版) ›› 2006, Vol. 27 ›› Issue (6): 591-594.DOI: -

• 论著 •    下一篇

Acrobot系统基于滑模的离散时间变结构控制

郑艳;井元伟;   

  1. 东北大学教育部暨辽宁省流程工业综合自动化重点实验室;东北大学教育部暨辽宁省流程工业综合自动化重点实验室 辽宁沈阳110004;东北大学信息科学与工程学院;辽宁沈阳110004;辽宁沈阳110004
  • 收稿日期:2013-06-23 修回日期:2013-06-23 出版日期:2006-06-15 发布日期:2013-06-23
  • 通讯作者: Zheng, Y.
  • 作者简介:-
  • 基金资助:
    国家自然科学基金资助项目(60274099)

Discrete-time variable structure control based on sliding mode for acrobot system

Zheng, Yan (1); Jing, Yuan-Wei (1)   

  1. (1) Key Laboratory of Process Industry Automation of Liaoning Province, Northeastern University, Shenyang 110004, China; (2) School of Information Science and Engineering, Northeastern University, Shenyang 110004, China
  • Received:2013-06-23 Revised:2013-06-23 Online:2006-06-15 Published:2013-06-23
  • Contact: Zheng, Y.
  • About author:-
  • Supported by:
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摘要： 研究了将离散时间变结构控制应用于Acrobot系统的平衡控制器设计的问题.首先给出了Acrobot在垂直向上平衡点处的离散化数学模型.分析了离散指数趋近律存在抖振的机理,针对其不足给出了一种改进的趋近律,并将其应用于Acrobot系统的控制中,设计了离散时间变结构平衡控制器.仿真结果表明,改进的趋近律可有效地减小系统的抖振,并保证系统渐近稳定,实现了Acrobot系统基于滑模的离散时间变结构控制.

关键词: 体操机器人, 离散时间系统, 变结构控制, 趋近律, 滑动模面, 抖振

Abstract: Applies discrete-time variable structure control to the design of balance controller for Acrobot system. Develops a discrete-time mathematical model for Acrobot system at its upright equilibrium point to analyse the mechanism of chattering which occurs in compliance with the discrete-time exponential approximation law in a variable structure control systems. To improve the discrete-time exponential approximation law, a modified one is presented and applied to the design of discrete-time variable structure balance controller for Acrobot. Simulation results showed that the modified exponential approximation law will not only take the advantage of original one, but also reduce the chattering effectively, so as to keep the Acrobot system asymptotically stable, thus enabling the discrete-time variable structure control based on sliding mode for Acrobot system to come true.

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