Based on the scope of change of parameters,multiple sliding mode variable structure controllers were designed for a kind of nonlinear system with uncertain parameters.A switching controller was formed with a given ind...
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Based on the scope of change of parameters,multiple sliding mode variable structure controllers were designed for a kind of nonlinear system with uncertain parameters.A switching controller was formed with a given index switching *** the guarantee of Lyapunov stability,the controller of system would be switched among multiple sliding mode variable structure controllers according to the switching *** mechanism of switching could improve the transient response greatly.A robotic arm was studied as a nonlinear *** sliding mode variable structure controllers were set up according to the dynamic equation of the robotic *** index switching function based on output error was given for the design of switching controller of the robotic *** test the effectiveness of the switching controller,four simulation examples according to different scopes of parameter change were *** the simulation,it was concluded that the switching controller could enhance the control performance greatly.
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