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投稿时间：2009-05-14 修订日期：2009-07-30
投稿时间：2009-05-14 修订日期：2009-07-30
中文摘要: 为了解决传统滑模控制中采用指数趋近律产生的抖振问题，提出一种采用云模型趋近律的智能滑模控制方法。提出将云模型和趋近律相结合，利用云模型推理方法，动态调整趋近速度，保证系统状态快速、稳定地到达滑模面。将所设计的滑模控制器用于平行单级双倒立摆的稳定控制，仿真结果验证了设计方法的有效性，对系统摄动和外部干扰都有很强的鲁棒性。
Abstract:In order to alleviate the chattering phenomenon suffered in traditional sliding-mode control with exponentially reaching law(TSMC), an intelligent sliding-mode controller is proposed based on cloud models reaching law. The combination between cloud models and reaching law is introduced for the first time. With reasoning method of cloud models, the reaching speed can be adjusted dynamically to ensure that the system states can reach the sliding surface quickly and stably. Finally the designed sliding-mode controller is used to stabilize a parallel-type double inverted pendulum system (PTIPS), and the simulation results demonstrate that this method is effective and has strong robustness to system parameter uncertainty and external disturbances.
keywords: cloud models exponentially reaching law sliding-mode control parallel-type inverted pendulum
文章编号：200900471 中图分类号： 文献标志码：
基金项目:国家自然科学基金资助项目(50595412)
| 作者 | 单位 | |
| 李涛 | 四川大学 电气信息学院；东方汽轮机有限公司 | huangdlaoz@163.com |
| 孙衢* | 北京科技大学 信息工程学院 | |
| 杨莉 | 四川工程职业技术学院 |
作者简介:
引用文本：
李涛,孙衢,杨莉.基于云模型趋近律的智能滑模控制器设计[J].工程科学与技术,2010,42(3):171-176.
Li Tao,Sun Qu,Yang Li.Intelligent Sliding-mode Controller Based on Cloud Models Reaching Law[J].Advanced Engineering Sciences,2010,42(3):171-176.
引用文本：
李涛,孙衢,杨莉.基于云模型趋近律的智能滑模控制器设计[J].工程科学与技术,2010,42(3):171-176.
Li Tao,Sun Qu,Yang Li.Intelligent Sliding-mode Controller Based on Cloud Models Reaching Law[J].Advanced Engineering Sciences,2010,42(3):171-176.