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
收藏
页码：121 / 127
页数：7
相关论文
共 50 条
  • [41] Design of a stable sliding-mode controller for a class of second-order underactuated systems
    Ma, B. L.
    IET CONTROL THEORY AND APPLICATIONS, 2007, 1 (04): : 1186 - 1187
  • [42] Design of a stable sliding-mode controller for a class of second-order underactuated systems
    Wang, W
    Yi, J
    Zhao, D
    Liu, D
    IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS, 2004, 151 (06): : 683 - 690
  • [43] Digital Control and Readout of MEMS Gyroscope Using Second-Order Sliding Mode Control
    Kant, Komal
    Paswan, Rajan Kumar
    Ahmad, Imteyaz
    Sinha, Amar Prakash
    IEEE SENSORS JOURNAL, 2022, 22 (21) : 20567 - 20574
  • [44] Backstepping sliding mode control for BTT missiles based on second-order sliding mode
    Zhu, Kai
    Qi, Nai-Ming
    Qin, Chang-Mao
    Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics, 2010, 32 (04): : 829 - 832
  • [45] Improved Quadrotor Altitude Control Design Using Second-Order Sliding Mode
    Nadda, Sudhir
    Swarup, A.
    JOURNAL OF AEROSPACE ENGINEERING, 2017, 30 (06)
  • [46] Smooth Second Order Sliding Mode Control of a Class of Underactuated Mechanical Systems
    Shah, Ibrahim
    Rehman, Fazal Ur
    IEEE ACCESS, 2018, 6 : 7759 - 7771
  • [47] Aerial autonomous catching ball using a nested second order sliding mode control
    Ibarra-Jimenez, E.
    Castillo, P.
    IFAC PAPERSONLINE, 2017, 50 (01): : 11415 - 11420
  • [48] New adaptive sliding mode control for a mismatched second-order system using an extended disturbance observer
    Guo, Jianguo
    Liu, Yuchao
    Zhou, Jun
    TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2019, 41 (01) : 276 - 284
  • [49] Second-order sliding mode control of electronic throttle valves
    Horn, Martin
    Reichhartinger, Markus
    2008 INTERNATIONAL WORKSHOP ON VARIABLE STRUCTURE SYSTEMS, 2008, : 280 - 284
  • [50] A Second-Order Sliding Mode Control of Switched Reluctance Motor
    Ben Salem, Fatma
    Bahri, Imen
    Maamri, Hana
    Derbel, Nabil
    ELECTRIC POWER COMPONENTS AND SYSTEMS, 2020, 48 (6-7) : 640 - 651
12345