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    张晓华

    • 教授     博士生导师   硕士生导师
    • 性别:男
    • 毕业院校:哈尔滨工业大学
    • 学位:博士
    • 所在单位:电气工程学院
    • 学科:电力电子与电力传动
    • 办公地点:大连市高新区凌工路 2 号电气楼 405 室
    • 联系方式:xh_zhang@dlut.edu.cn
    • 电子邮箱:xh_zhang@dlut.edu.cn

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    Adaptive Sliding Mode Control of Inclined TORA System

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    论文类型:会议论文

    发表时间:2021-04-26

    页面范围:797-802

    关键字:inclined TORA system; adaptive sliding mode control; Lyapunov method; robustness

    摘要:The application of the translational oscillator with rotating actuator (TORA) system in engineering problems such as ship anti-rolling engineering etc., can be simplified as the control problem of TORA system when the base level is inclined. When the slope angle is unknown, time-varying and immeasurable, the control of the system is challenged. In this paper, a global coordinate transformation is used to separate the uncertain parameter from the system, a nonlinear adaptive sliding mode control method is proposed for inclined TORA system based on the transformation. the stability of the system is proved by using Lyapunov techniques, the slope angle can be accurately identified by the designed adaptive law in real time. Simulation results verify the effectiveness and robustness of the proposed controller.