ملخص
A three hierarchical sliding mode control is presented for a class of an underactuated system which can overcome the mismatched perturbations. The considered underactuated system is a double inverted pendulum (DIP), can be modeled by three subsystems. Such structure allows the construction of several designs of hierarchies for the controller. For all hierarchical designs, the asymptotic stability of every layer sliding mode surface and the sliding mode surface of subsystems are proved theoretically by Barbalat's lemma. Simulation results show the validity of these methods.
اللغة الأصلية | English |
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الصفحات (من إلى) | 222-228 |
عدد الصفحات | 7 |
دورية | AIP Conference Proceedings |
مستوى الصوت | 1107 |
المعرِّفات الرقمية للأشياء | |
حالة النشر | Published - 2009 |
الحدث | 2nd Mediterranean Conference on Intelligent Systems and Automation, CISA 2009 - Zarzis, Tunisia المدة: مارس ٢٣ ٢٠٠٩ → مارس ٢٥ ٢٠٠٩ |
ASJC Scopus subject areas
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