[1]王瑷珲,张强,王东云.基于滑模变结构的IPMC跟踪控制系统设计[J].郑州大学学报(工学版),2014,35(06):104-107.[doi:10.3969/i.issn.1671 -6833.2014.06.025]
　WANG Aihui,ZHANG Qiang,WANG Dongyun,et al.Position Tracking Control Design for IPMC Based on Sliding Mode Variable Structure[J].Journal of Zhengzhou University (Engineering Science),2014,35(06):104-107.[doi:10.3969/i.issn.1671 -6833.2014.06.025]
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基于滑模变结构的IPMC跟踪控制系统设计()
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《郑州大学学报(工学版)》[ISSN:1671-6833/CN:41-1339/T]

卷:
35卷
期数:
2014年06期
页码:
104-107
栏目:
出版日期:
2014-11-25

文章信息/Info

Title:
Position Tracking Control Design for IPMC Based on Sliding Mode Variable Structure
作者:
王瑷珲1; 张强2; 王东云3
Author(s):
WANG Aihui; ZHANG Qiang; WANG Dongyun; etc;
Department of Electronie and information, Zhongyuan University of Technology, Zhengzhou 451191, China
Keywords:
lPMC;  uncertainies;  sliding mode variable struelure;  neural nelwork;  nonlinear position control: robust stability
分类号:
TP273
DOI:
10.3969/i.issn.1671 -6833.2014.06.025
文献标志码:
A
Abstract:
To get belter used for the lPNC in biomedical and robolie systems, the position that we expeet mustbe controlled precisely. Against strong nonlinear properties and model uneerlainties,as a result, an lPMC ari.ficial museles position traeking eontrol system based on sliding mode variable strueture control and Pl controlapproach is proposed. First, the robust stability is achieved by sliding mode control, furthermore, slidingmode variable structure control and Pl control approach which are used to traee the position, finally, the pa.rameters of traeking eontroller are designed by using neural nelwork. The designed system not only can achieveposition tracking, but also guarantee stability in the presenee of elfeet of uneertainlies and exteral perturba.tion, the elfeetiveness of the proposed method is confirmed by simulalion results.
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