Incremental sliding mode control of the ball and beam

被引：32
|
作者：
Hirschorn, RM [1 ]
机构：
[1] Queens Univ, Dept Math & Stat, Kingston, ON K7L 3N6, Canada
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2002年 / 47卷 / 10期
关键词：
ball and beam; discontinuous feedback; sliding mode control;
D O I：
10.1109/TAC.2002.803538
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We show that, using a switched periodic controller, we can "incrementally track" integral curves of certain Lie brackets of the drift and controlled vector fields for the ball and beam. This allows us to design a sliding mode controller which overcomes the problems associated with singular states and results in effective global tracking of large motions of the ball.
引用
收藏
页码：1696 / 1700
页数：5
相关论文
共 50 条
  • [1] On the sliding mode control of a Ball on a Beam system
    Naif B. Almutairi
    Mohamed Zribi
    [J]. Nonlinear Dynamics, 2010, 59 : 221 - 238
  • [2] On the sliding mode control of a Ball on a Beam system
    Almutairi, Naif B.
    Zribi, Mohamed
    [J]. NONLINEAR DYNAMICS, 2010, 59 (1-2) : 221 - 238
  • [3] Sliding Mode Control based on Feedback Linearization for a Ball and Beam System
    Cardona, Sebastian
    Ospina, Steven
    Giraldo, Eduardo
    [J]. 2019 IEEE 4TH COLOMBIAN CONFERENCE ON AUTOMATIC CONTROL (CCAC): AUTOMATIC CONTROL AS KEY SUPPORT OF INDUSTRIAL PRODUCTIVITY, 2019,
  • [4] Sliding Mode Control: An Incremental Perspective
    Zhang, Guo
    He, Ping
    Li, Heng
    Tang, Yu
    Li, Zuxin
    Xiong, Xing-Zhong
    Wei, Wei
    Li, Yangmin
    [J]. IEEE ACCESS, 2020, 8 : 20108 - 20117
  • [5] Proposal of incremental sliding mode control
    Hao, Yinxing
    Yi, Jianqiang
    Zhao, Dongbin
    Wang, Wei
    [J]. ICICIC 2006: FIRST INTERNATIONAL CONFERENCE ON INNOVATIVE COMPUTING, INFORMATION AND CONTROL, VOL 1, PROCEEDINGS, 2006, : 340 - +
  • [6] Interpolating sliding mode observer for a ball and beam system
    Hammadih, Mohammad Luai
    Al Hosani, Khalifa
    Boiko, Igor
    [J]. INTERNATIONAL JOURNAL OF CONTROL, 2016, 89 (09) : 1879 - 1889
  • [7] Sliding mode control design under partial state feedback for ball and beam system
    Kim, Jin-Soo
    Park, Gyu-Man
    Choi, Ho-Lim
    [J]. INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2010), 2010, : 1293 - 1296
  • [8] Sliding mode control of a ball balancing robot
    Lal, Ioana
    Codrean, Alexandru
    Busoniu, Lucian
    [J]. IFAC PAPERSONLINE, 2020, 53 (02): : 9490 - 9495
  • [9] Cascaded Sliding Mode Control for Position Control of a Ball in a Ball and Plate System
    Roy, Prasanta
    Acharjee, Soumitra
    Ram, Arjun
    Das, Arindam
    Sen, Tanmoy
    Roy, Binoy K.
    [J]. PROCEEDINGS OF THE 2016 IEEE STUDENTS' TECHNOLOGY SYMPOSIUM (TECHSYM), 2016, : 79 - 84
  • [10] Fuzzy sliding-mode control for ball and beam system with fuzzy ant colony optimization
    Chang, Yeong-Hwa
    Chang, Chia-Wen
    Tao, Chin-Wang
    Lin, Hung-Wei
    Taur, Jin-Shiuh
    [J]. EXPERT SYSTEMS WITH APPLICATIONS, 2012, 39 (03) : 3624 - 3633
12345