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摘要: 该文针对桥式吊车这一类欠驱动系统提出了一种分级滑模控制方法.该方法将系统状 态分成两组,分别构造第一级滑动平面,并求取各个子滑动平面上的等效控制量.然后再构造第 二级滑动平面,采用Lyapunov稳定定理获得最终的控制量.该控制量包含各子滑动平面的等效 控制分量,因此能够保证系统状态沿着各个子滑动平面滑动.该文从理论上证明了各级滑动平 面的渐近稳定性,并且通过仿真验证了该结果.Abstract: A new hierarchical sliding-mode control method for overhead crane is presented. In this method, system states are divided into two parts. Two first-level sub-sliding planes are designed, and then the second level sliding plane is constructed.using Lyapunov law, we can derive the sliding-mode control law which includes the equivalent control of every sub-sliding plane. Therefore, the total sliding mode control law can drive every subsystem to move along its own sub-sliding plane. he paper theoretically proves the asymptotic stability of all the sliding planes, and the simulation results show its validity.
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Key words:
- Overhead crane /
- hierarchical /
- sliding-mode control /
- under-actuated system
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