Stabilization of an Underactuated Ball-and-Beam System Using a Second-Order Sliding Mode Control

被引：3

作者：

Yang, Jie ^{[1
]}

Wang, Qinglin ^{[1
]}

Li, Yuan ^{[1
]}

She, Jinhua ^{[2
]}

机构：

[1] Beijing Inst Technol, Sch Automat, 5 South Zhongguancun St, Beijing 100081, Peoples R China

[2] Tokyo Univ Technol, Sch Comp Sci, Hachioji, Tokyo 1920982, Japan

来源：

JOURNAL OF ADVANCED COMPUTATIONAL INTELLIGENCE AND INTELLIGENT INFORMATICS | 2014年 / 18卷 / 02期

基金：

中国国家自然科学基金;

关键词：

ball-and-beam; second-order sliding mode; uncertainty; finite-time convergence;

D O I：

10.20965/jaciii.2014.p0121

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents a stabilization method for an underactuated ball-and-beam system (BABS) based on a second-order sliding mode (SOSM) control. The BABS is an underactuated nonlinear system that is widely used to verify nonlinear control performance. Virtual control is introduced to a second-order BABS subsystem to minimize control performance inaccuracy by using model linearization. An actual virtual controller with variable finite-time tracking is achieved using a second-order sliding mode controller. An adaptive robust method is proposed to solve an uncertainty problem with unknown upper bounds, and then a finite-time convergence theory proof is given. Theory, simulation and experiment results verify the efficiency of the BABS controller.

引用

页码：121 / 127

页数：7

共 50 条

[31] Second-Order Sliding Mode Control for BUCK Converters
Wang, Jiadian
Ding, Shihong
PROCEEDINGS OF THE 2015 CHINESE INTELLIGENT SYSTEMS CONFERENCE, VOL 1, 2016, 359 : 69 - 76
[32] EXTREMUM SEEKING CONTROL WITH SECOND-ORDER SLIDING MODE
Pan, Yaodong
Kumar, Krishna Dev
Liu, Guangjun
SIAM JOURNAL ON CONTROL AND OPTIMIZATION, 2012, 50 (06) : 3292 - 3309
[33] The New Second-Order Sliding Mode Control Algorithm
Kochetkov, Sergey
Krasnova, Svetlana A.
Utkin, Victor A.
MATHEMATICS, 2022, 10 (13)
[34] Second-order sliding mode control of a platoon of vehicles
Ferrara, Antonella
Vecchio, Claudio
INTERNATIONAL JOURNAL OF MODELLING IDENTIFICATION AND CONTROL, 2008, 3 (03) : 277 - 285
[35] Chattering avoidance by second-order sliding mode control
Bartolini, G
Ferrara, A
Usai, E
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1998, 43 (02) : 241 - 246
[36] An asymptotic second-order smooth sliding mode control
Shtessel, YB
Shkolnikov, IA
Brown, MDJ
ASIAN JOURNAL OF CONTROL, 2003, 5 (04) : 498 - 504
[37] A stabilization control of underactuated system using sliding mode differentiator based disturbance observer
Suzuki, K., 1600, Institute of Electrical Engineers of Japan (132):
[38] Terminal Sliding Mode Control Strategy Design for Second-order Nonlinear System
Lee, Jeng-Dao
Khoo, Suiyang
Lai, Kwei-Yuan
38TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2012), 2012, : 2512 - 2517
[39] Second-Order Sliding Mode Control for Passive Ranging System in Missile Interception
Wang, Ting-Kuo
Fu, Li-Chen
Jean, Jong-Hann
2012 IEEE 51ST ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC), 2012, : 6466 - 6471
[40] Robust finite time second-order sliding mode stabilization control for floated inertial platform
Yu, Chunmei
Li, Anliang
Zhang, Shifeng
Bai, Xibin
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING, 2018, 232 (09) : 1620 - 1627

← 1 2 3 4 5 →