scholarly journals Robust Control of Underactuated Systems: Higher Order Integral Sliding Mode Approach

2016 ◽  
Vol 2016 ◽  
pp. 1-11 ◽  
Author(s):  
Sami ud Din ◽  
Qudrat Khan ◽  
Fazal ur Rehman ◽  
Rini Akmeliawati
Keyword(s):  
Robust Control ◽  
Closed Loop ◽  
Sliding Mode ◽  
Integral Manifold ◽  
Control Design ◽  
Underactuated Systems ◽  
Control Laws ◽  
Beam System ◽  
Integral Manifolds ◽  
Robust Control Design

This paper presents a robust control design for the class of underactuated uncertain nonlinear systems. Either the nonlinear model of the underactuated systems is transformed into an input output form and then an integral manifold is devised for the control design purpose or an integral manifold is defined directly for the concerned class. Having defined the integral manifolds discontinuous control laws are designed which are capable of maintaining sliding mode from the very beginning. The closed loop stability of these systems is presented in an impressive way. The effectiveness and demand of the designed control laws are verified via the simulation and experimental results of ball and beam system.

Stabilization of an Underactuated Ball-and-Beam System Using a Second-Order Sliding Mode Control

2014 ◽  
Vol 18 (2) ◽  
pp. 121-127 ◽  
Author(s):  
Jie Yang ◽  
◽  
Qinglin Wang ◽  
Yuan Li ◽  
Jinhua She ◽  
...  
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Second Order ◽  
Convergence Theory ◽  
Control Performance ◽  
Beam System ◽  
Simulation And Experiment ◽  
Model Linearization ◽  
Second Order Sliding Mode ◽  
Ball And Beam System

This paper presents a stabilization method for an underactuated ball-and-beam system (BABS) based on a second-order sliding mode (SOSM) control. The BABS is an underactuated nonlinear system that is widely used to verify nonlinear control performance. Virtual control is introduced to a second-order BABS subsystem to minimize control performance inaccuracy by using model linearization. An actual virtual controller with variable finite-time tracking is achieved using a second-order sliding mode controller. An adaptive robust method is proposed to solve an uncertainty problem with unknown upper bounds, and then a finite-time convergence theory proof is given. Theory, simulation and experiment results verify the efficiency of the BABS controller.

scholarly journals Robust Control of the Classic Dynamic Ball and Beam System

2020 ◽  
pp. 134-144
Author(s):  
Javier Jiménez-Cabas ◽  
Farid Meléndez-Pertuz ◽  
Luis David Díaz-Charris ◽  
Carlos Collazos-Morales ◽  
Ramón E. R. González
Keyword(s):  
Robust Control ◽  
Beam System ◽  
Ball And Beam System
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