Second-Order Sliding Mode Control for Ball-Balancing System

Sho Tsung Kao, Ming Tzu Ho

研究成果: Conference contribution

3 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題2018 IEEE Conference on Control Technology and Applications, CCTA 2018
發行者Institute of Electrical and Electronics Engineers Inc.
頁面1730-1735
頁數6
ISBN(電子)9781538676981
DOIs
出版狀態Published - 2018 十月 26
事件2nd IEEE Conference on Control Technology and Applications, CCTA 2018 - Copenhagen, Denmark
持續時間: 2018 八月 212018 八月 24

出版系列

名字2018 IEEE Conference on Control Technology and Applications, CCTA 2018

Other

Other2nd IEEE Conference on Control Technology and Applications, CCTA 2018
國家Denmark
城市Copenhagen
期間18-08-2118-08-24

All Science Journal Classification (ASJC) codes

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

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