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

被引：3

作者：

Yang, Jie ^{[1
]}

Wang, Qinglin ^{[1
]}

Li, Yuan ^{[1
]}

She, Jinhua ^{[2
]}

机构：

[1] Beijing Inst Technol, Sch Automat, 5 South Zhongguancun St, Beijing 100081, Peoples R China

[2] Tokyo Univ Technol, Sch Comp Sci, Hachioji, Tokyo 1920982, Japan

来源：

JOURNAL OF ADVANCED COMPUTATIONAL INTELLIGENCE AND INTELLIGENT INFORMATICS | 2014年 / 18卷 / 02期

基金：

中国国家自然科学基金;

关键词：

ball-and-beam; second-order sliding mode; uncertainty; finite-time convergence;

D O I：

10.20965/jaciii.2014.p0121

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

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.

引用

页码：121 / 127

页数：7

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