%0 Journal Article
%T Dynamic modeling and design of second-order sliding-mode controller for arm of roadheader robot<br>悬臂式掘进机器人截割臂建模与二阶滑模控制器设计
%A LING Rui
%A CHAI Yi
%A <br>凌睿
%A 柴毅
%J 控制理论与应用
%D 2010
%I 
%X According to the cutting techniques and the structure characteristics of a roadheader robot, we present a dynamic model for its arm and develop for the arm a MIMO control system which is an extension of a second-order sliding-mode control system(2-SMC) based on the finite-state machine. This control system drives the sliding-variable and its derivative to approach zero in a finite time interval without using a rate observer, thus reducing the chattering phenomenon and improving the control accuracy. The proposed MIMO 2-SMC has been applied to the arm control of a roadheader robot. Simulation and experiment show the validity of the proposed algorithm.
%K roadheader robot
%K second order sliding mode
%K dynamic model of arm
%K robot control
%K MIMO system<br>掘进机器人
%K 二阶滑模控制
%K 截割臂建模
%K 机器人控制
%K 多输入多输出系统
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=A4AD348D97EEC86CAA6FD1BA9635A2AF&yid=140ECF96957D60B2&vid=DB817633AA4F79B9&iid=5D311CA918CA9A03&sid=1F51A4E3D1D75885&eid=9A7C41A6BCE530C0&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=25