东北大学学报（自然科学版）

东北大学学报(自然科学版) ›› 2005, Vol. 26 ›› Issue (6): 511-514.DOI: -

• 论著 •    下一篇

一类欠驱动机械系统基于滑模的变结构控制

郑艳;朱媛;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;东北大学信息科学与工程学院;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
  • 收稿日期:2013-06-24 修回日期:2013-06-24 出版日期:2005-06-15 发布日期:2013-06-24
  • 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);;东北大学博士学位论文资助项目(200308)

Variable structure control based on sliding model for a class of underactuated mechanical system

Zheng, Yan (1); Zhu, Yuan (2); Jing, Yuan-Wei (1)   

  1. (1) Laboratory of Process Industry Automation, Northeastern University, Shenyang 110004, China; (2) School of Information Science and Engineering, Northeastern University, Shenyang 110004, China; (3) Communication Network Co. Ltd., Northeastern Air Traffic Administration Bureau, Shenyang 110043, China
  • Received:2013-06-24 Revised:2013-06-24 Online:2005-06-15 Published:2013-06-24
  • Contact: Zheng, Y.
  • About author:-
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摘要： 针对体操机器人这种欠驱动机械系统设计了滑模变结构控制律,变结构控制中采用了一种改进的指数趋近律·仿真结果表明对线性化模型所设计的变结构控制器应用在非线性系统中,仍能使机器人系统实现稳定·与极点配置方法相比较,采用滑模变结构控制方法设计的平衡控制器可使机器人系统具有更大的稳定范围(吸引域)和更强的鲁棒性·改进的指数趋近律可有效地降低变结构控制中所产生的抖动,并使系统迅速达到平衡稳定状态·

关键词: 欠驱动系统, 体操机器人, 变结构控制, 趋近律, 吸引域

Abstract: Presents the design of variable structure control law on sliding mode for Acrobots as a class of underactuated mechanical system, with a modified exponential approximation law employed in the design. The simulation results showed that an Acrobot system remains stable if the variable structure controller designed in terms of linear model is employed in nonlinear system. Comparing with the control by pole placement method, a bigger stability range (or basin of attraction) and stronger robustness can be provided for an Acrobot system by the balance controller which is designed by variable structure control based on sliding model. The modified exponential approximation law can not only reduce effectively the tremble caused by variable structure control but make the Acrobot system come to a stable equilibrium state quickly.

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