Hierarchical sliding-mode control of Pendubot
Pendubot的一种分层滑模控制方法

Aiming at Pendubot,a new hierarchical sliding-mode control method is presented.The system's states are divided into two parts.Using Lyapunov law,the sliding-mode control law can be derived.The control law can swing Pendubot up to its uppermost unstable equilibrium position.When the system's states reach the equilibrium position,the hierarchical sliding-mode controller degenerates to the monolayer controller,then the controller guarantees the Pendubot to stabilize at the uppermost equilibrium position.The asymptotic stability of all sliding planes is also proved theoretically,and the simulation results show the controller's validity and its adaptive abilities for outer disturbances.