Sliding mode control of a ball balancing robot

被引：2

作者：

Lal, Ioana ^{[1
]}

Codrean, Alexandru ^{[2
]}

Busoniu, Lucian ^{[2
]}

机构：

[1] Robert Bosch & Tech Univ Cluj Napoca, Engn Ctr Cluj, Cluj Napoca, Romania

[2] Tech Univ Cluj Napoca, Cluj Napoca, Romania

来源：

IFAC PAPERSONLINE | 2020年 / 53卷 / 02期

关键词：

Control applications; mobile robots; sliding mode control; robust control;

D O I：

10.1016/j.ifacol.2020.12.2424

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a sliding mode control design for a ball-balancing robot (ballbot), with associated real-time results. The sliding mode control is designed based on the linearized plant model, and is robust to matched uncertainties. The design is considerably simpler than other nonlinear control strategies presented in the literature, and the experimental results for stabilization and tracking show much better performances than those obtained with linear control (in particular, a linear quadratic regulator). Copyright (C) 2020 The Authors.

引用

页码：9490 / 9495

页数：6

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