Stabilization of a ball and sphere system using feedback linearization and sliding mode control

Shih Yuan Liu, Yusie Rizal, Ming Tzu Ho

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

8 Citations (Scopus)

Abstract

In this paper, we consider the problem of control of a laboratory experiment, called the ball and sphere system. This system consists of two dc motors that drive a big sphere to roll in two directions and to keep a small ball staying on the top of the sphere. This system is inherently nonlinear, unstable, and underactuated. The control of this system is a challenging task. In this paper, we show that around the equilibrium of the system can be decoupled into two independent ball and wheel systems. Based on full-state-feedback linearization and sliding mode control, a controller is designed to achieve the closed-loop stability of the system. The simulation and experimental results are given to demonstrate and validate the effectiveness of the control scheme.

Original languageEnglish
Title of host publicationASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings
Pages1334-1339
Number of pages6
Publication statusPublished - 2011 Aug 29
Event8th Asian Control Conference, ASCC 2011 - Kaohsiung, Taiwan
Duration: 2011 May 152011 May 18

Publication series

NameASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings

Other

Other8th Asian Control Conference, ASCC 2011
CountryTaiwan
CityKaohsiung
Period11-05-1511-05-18

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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    Liu, S. Y., Rizal, Y., & Ho, M. T. (2011). Stabilization of a ball and sphere system using feedback linearization and sliding mode control. In ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings (pp. 1334-1339). [5899266] (ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings).