Second-Order Sliding Mode Control for Ball-Balancing System

Sho Tsung Kao, Ming-Tzu Ho

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The control objective of a ball-balancing system is to balance a ball atop a circular arc mounted on a carriage base that can move horizontally and at the same time move the carriage to a desired position. This study designs, implements, and validates a stabilizing controller for a ball-balancing system that is nonlinear and underactuated. Moreover, the equilibrium of this system is open-loop unstable. Second-order sliding mode control is used to design the stabilizing controller. A stability analysis is conducted to show that the proposed control scheme guarantees semi-global asymptotic stability over the upper half-plane under the assumption that the ball is in contact with the arc at all times. The controller is implemented and tested on an experimental apparatus. The simulation and experimental results demonstrate the effectiveness of the proposed control scheme.

Original languageEnglish
Title of host publication2018 IEEE Conference on Control Technology and Applications, CCTA 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1730-1735
Number of pages6
ISBN (Electronic)9781538676981
DOIs
Publication statusPublished - 2018 Oct 26
Event2nd IEEE Conference on Control Technology and Applications, CCTA 2018 - Copenhagen, Denmark
Duration: 2018 Aug 212018 Aug 24

Other

Other2nd IEEE Conference on Control Technology and Applications, CCTA 2018
CountryDenmark
CityCopenhagen
Period18-08-2118-08-24

Fingerprint

Sliding mode control
Sliding Mode Control
Balancing
Ball
Controllers
Controller
Arc of a curve
Open systems
Asymptotic stability
Global Asymptotic Stability
Half-plane
Stability Analysis
Unstable
Contact
Experimental Results
Demonstrate
Simulation

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Optimization
  • Automotive Engineering
  • Safety, Risk, Reliability and Quality

Cite this

Kao, S. T., & Ho, M-T. (2018). Second-Order Sliding Mode Control for Ball-Balancing System. In 2018 IEEE Conference on Control Technology and Applications, CCTA 2018 (pp. 1730-1735). [8511547] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCTA.2018.8511547
Kao, Sho Tsung ; Ho, Ming-Tzu. / Second-Order Sliding Mode Control for Ball-Balancing System. 2018 IEEE Conference on Control Technology and Applications, CCTA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 1730-1735
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Kao, ST & Ho, M-T 2018, Second-Order Sliding Mode Control for Ball-Balancing System. in 2018 IEEE Conference on Control Technology and Applications, CCTA 2018., 8511547, Institute of Electrical and Electronics Engineers Inc., pp. 1730-1735, 2nd IEEE Conference on Control Technology and Applications, CCTA 2018, Copenhagen, Denmark, 18-08-21. https://doi.org/10.1109/CCTA.2018.8511547

Second-Order Sliding Mode Control for Ball-Balancing System. / Kao, Sho Tsung; Ho, Ming-Tzu.

2018 IEEE Conference on Control Technology and Applications, CCTA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 1730-1735 8511547.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Kao ST, Ho M-T. Second-Order Sliding Mode Control for Ball-Balancing System. In 2018 IEEE Conference on Control Technology and Applications, CCTA 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 1730-1735. 8511547 https://doi.org/10.1109/CCTA.2018.8511547