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
收藏
页码：121 / 127
页数：7
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