To increase the anti-disturbance ability of Acrobot systems, a dynamic model for the underactuated Acrobot system was built, and a silding mode control strategy for the system was proposed. In the strategy, the model in cascade normal form is expanded to the common form with disturbance term, and the hyperolic tangent function is used to substitute the sign function to eliminate chattering. The Acobot system with the proposed control strategy was proved asymptotically stable and robust using Lyapunov theory and perturbation theory. This method can be applied to other underactuated systems. Simulation results show the effectiveness of the proposed control strategy to Acrobot balance control.%为增加Acrobot控制系统的抗干扰能力,针对欠驱动Acrobot系统,建立了系统模型.提出滑模控制策略,将模型转化为级联规范型,并扩展到一般形式,增加了扰动项.采用双曲正切函数代替符号函数,消除了抖振.采用Lyapunov理论和摄动理论相结合的方法证明所提的控制策略能保证系统渐近稳定,并具有较强的鲁棒性,该方法可应用到其它欠驱动系统.仿真结果证明了该方法对Acrobot系统平衡控制的有效性.
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