欠驱动TORA系统的分层滑模控制研究

wo different hierarchical sliding mode controllers are designed for an underactuated TORA(Translational Oscillator with Rotational Actuator) system. Firstly, the TORA system is separated into two subsystems according to the degrees of freedom. Each subsystem contains two state variables, which are chosen to construct a sub-sliding surface. And the total sliding surface is defined as a function of the two sub-sliding surfaces. For the two methods of hierarchical sliding mode control, the first method is to define the total sliding surface as a piecewise linear function of the two sub-sliding surfaces. With this method, the stability of each sub-system can be guaranteed theoretically. The second method is to define the total sliding surface as a continuous liner function of the two sub-sliding surfaces. However, the coefficient sign of the continuous liner function should be determined by analyzing the model. Finally, simulation results demonstrate the feasibility of the two controllers. Moreover, simulation results of the controlled system with the second method has better performance than those with the first method.