%0 Journal Article
%T HIGH-ORDER SLIDING MODE CONTROL OF NONLINEAR AFFINE CONTROL SYSTEMS<br>非线性仿射控制系统的高阶滑模控制
%A HU Yue-Ming
%A CHAO Hong-Min
%A LEE Chi-Kuen
%A LEUNG Tin-Pui
%A <br>胡跃明
%A 晁红敏
%A 李志权
%A 梁天培
%J 自动化学报
%D 2002
%I 
%X This paper addresses the high order sliding mode control problem of nonlinear affine systems. By proper input and nonlinear state transformations, the system is first decomposed into two low dimensional subsystems: the linear subsystem involves the switching functions and related derivatives, and the nonlinear subsystem describes the sliding mode motion. A high order sliding mode control law is then developed to achieve high order sliding mode motion with prescribed dynamics. Finally, numerical simulations are performed for the posture model of a two wheel driven nonholonomic mobile robot, and the results show that the proposed approach has considerable potentialities to lessen the chattering of sliding mode control systems.
%K Nonlinear systems
%K sliding mode control
%K sliding order
%K nonholonomic robot<br>非线性仿射控制系统
%K 高阶滑模控制
%K 数值仿真
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=E38D2A3F9B29A309&yid=C3ACC247184A22C1&vid=D3E34374A0D77D7F&iid=0B39A22176CE99FB&sid=03E56C113B4E5A88&eid=F50A8B5513721E1C&journal_id=0254-4156&journal_name=自动化学报&referenced_num=8&reference_num=13