Pdf on aug 21, 2017, abdullah basci and others published position control of a ball beam experimental setup based on sliding mode controller find, read. Volume 39, issue 3, 15 february 2012, pages 36243633. Feedback linearization and sliding mode control are used to design a. The sliding mode control filippov theory physical interpretation of the equivalent control invariance in slidingmodes sliding mode control design using the sliding mode control. I many laboratories use simple controllers such as pd. Incremental sliding mode control of the ball and beam. The effect of the static striebeck friction in the robust. Nonlinear pd regulation for ball and beam system wen yu. The design of fuzzy slidingmode controllers for the ball and beam system is discussed in section 3. Decoupled neural fuzzy sliding mode control of the nonlinear ball on beam system has been considered in 4.
The sliding mode control approach is recognized as one of the efficient tools to design robust controllers for complex highorder nonlinear dynamic plant operating under uncertainty conditions. The statespace equations can be represented in matlab with the following commands these equations are. Join the grabcad community today to gain access and download. This system consists of dc motors that drive a big ball to keep a small ball staying on the big ball. 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. Department of electrical and electronics engineering supervisor. Underactuated mechanical systems have increasing practical importance, but their strong nonlinear behavior and increased vulnerability to uncertainties due to the absence of actuators for some of the configuration. In this paper a robust integral sliding mode control rismc approach for underactuated systems is proposed. On the sliding mode control of a ball on a beam system. This ball on wheel system was designed and built at lca and the controller was developed as a final course work on pmr5014, taught by professor eduardo a. The sliding mode control was used for ensuring the stability of lyapunov function.
Control of a ball and beam system mechanical engineering. Ballplate system, slidingmode control, pi d controller, stabilization, reduced system model. The ball and beam system is one of the most popular models for. A static and a dynamic slidingmode controllers are designed using a simplified model of the system. It can be used only when the control signal ut can switch at high frequency. Therefore, some form of feedback loop must be used to control the balls position. A sliding mode controller smc is designed and implemented with an objective to control the ball position on the beam by varying the angular position of beam. The grabcad library offers millions of free cad designs, cad files, and 3d models. Sliding mode controller design sliding mode control is a special version of an ono control. The system includes a ball, a beam, a motor and several sensors. Matlab based modeling and modulation of nonlinear ballbeam system controller has been demonstrated in 6.
In this paper, a sliding mode control smc method is introduced to design a control methodology for the ball and beam experimental setup bbs that consists of a servo motor, beam and ball. Introduction in recent years, many contributions have been presented in control literature that solve the control design problem for classes of nonlinear systems 8. Pdf revisiting nonlinear control design of a ball on a. The statefeedback control law is not a continuous function of. The proposed fuzzybased aco algorithm has the enhanced capability of pheromone updating such that the trapping of local optima can be avoided. A static and a dynamic slidingmode controllers are designed using a.
The sliding mode control technique is characterized by the following features. This paper investigates the sliding mode control of the ball on a beam system. Ball and beam control system simulation with simulink ball and beam control system simulation with simulink loading. Sliding mode control with observer muhammad fuady emzir,ghufran ahmed abstractthe. View sliding mode control of ball and beam system research papers on academia. In control systems, sliding mode control smc is a nonlinear control method that alters the dynamics of a nonlinear system by application of a discontinuous control signal or more rigorously, a setvalued control signal that forces the system to slide along a crosssection of the systems normal behavior. Fuzzy slidingmode control for ball and beam system with. The apparatus has a steel ball which is free to roll on two parallel tensioned wires. The main streamline of the study is the sliding surface design for the system. Band gare constants and the input uis a nonlinear transformation of the torque using the typical steps for feedback linearization fbl or sliding mode control smc, take the derivatives of ytill. Sliding mode control and feedback linearization for non.
A novel ball on beam stabilizing platform with inertial. The controller is applied to a ball and plate system which has extremely nonlinear. Partial state feedback,sliding mode control,ball and beam system 1. The proposed control method is realized in two cascaded control structures such that primary and secondary, respectively. The ball and beam system is a laboratory equipment with high nonlinearity in its dynamics. The purpose of this work is to design a sliding mode control from a reduced sy stem model using a pid as sliding surface. The proposed acooptimized scheme is utilized to tune the parameters of the fuzzy slidingmode controllers for a real ballandbeam system. Erol kocao glan june 2008, 141 pages in this thesis different control methods are applied to the beam and ball system.
The observer incorporates multiple linear observers through interpolation of multiple estimates, which is treated as a type of adaptation. Furthermore, some intelligent controllers for ball and beam can also be found, such as fuzzy control 3, sliding mode control 4, neural control 5, etc. Pdf on the sliding mode control of a ball on a beam. We show that, using a switched periodic controller, we can incrementally track integral curves of certain lie brackets of the drift and controlled vector fields for the ball and beam. This paper presents a robust control design for the class of underactuated uncertain nonlinear systems. First, we will study the response of the system shown above when a proportional controller is used.
The ball and beam apparatus shows the control problems of unstable systems, for example a rocket or missile during launch, which needs active control to prevent the missile going unstable and toppling over. The key idea is to apply strong control action when the system deviates from the desired behavior. Nonlinear model predictive control for a ball and beam has been implemented in 5. Pdf this paper investigates the sliding mode control of the ball on a beam system. The ball and beam balance is a safe way to investigate control design for unstable systems. The ball and beam system is one of the most popular laboratory experiments for control education. This study covers the sliding mode control design for a class of nonlinear systems, where the control input affects the state of the system linearly as described by.
The principle is then applied to the ball and beam system for observation of the slope of the beam from the measurement of the ball. Sliding mode control design under partial state feedback. These intelligent controllers are derived from some prior infor mation or inputoutput data of the ball and beam system. Pdf on the sliding mode control of a ball on a beam system. A slidingmode controller from a reduced system model. Such a sliding mode control is characterised by a suite of feedback control laws and a decision rule. The research in this area were initiated in the former soviet union about 40 years ago, and then the sliding mode control methodology has been. Experimental control design for ball and beam system published on jul 17, 20 the aim of the project is to control the position of the ball placed on a beam tilting on both sides using control. A lot of studies is proposed to control nonlinear system as well as this ball on a beam system such as pdfuzzy, sliding mode control smc. The motivation of this controller is to introduce the lyapunov function vx. The ball and beam system can usually be found in most university control labs since it is relatively easy to build, model and control theoretically. This paper investigates the application of smooth higherorder sliding mode hosm control to a class of underactuated mechanical systems. The adaptive control comprises of an ideal control and a sliding mode control.
Pdf revisiting nonlinear control design of a ball on a beam. Linear robust generalized proportional integral control of a ball and beam system for trajectory tracking tasks, american control conference acc, boston, ma, july 68, pp. The control objective is to balance the ball on the top and, at the same time, place the cart in a desired position, usually the middle of the track. This paper presents an acooptimized fuzzy sliding control scheme for a ball and beam system. Introduction the control problem sliding mode techniques were perhaps originally best known for their potential as a robust control method, and evolved from pioneering work in the 1960s in the former soviet union. The proposed aco algorithm has the enhanced capability of fuzzy pheromone updating and adaptive parameter tuning. Balance control of ball on ball systems using feedback. Research article robust control of underactuated systems. Smooth higherorder sliding mode control of a class of. It consists of rigid beam which is free to rotate in the vertical plane at the pivot, with a solid ball. A static and a dynamic slidingmode controllers are designed using.
Position control of a ball beam experimental setup based. Author links open overlay panel yeonghwa chang a chiawen chang a chinwang tao b hungwei lin c jinshiuh taur d. The basic idea is to use the torque generated from motor to the control the position of the ball on the beam. Sliding mode control and feedback linearization for nonregular. Classical rst order sliding mode higher order sliding mode from 1rst order to higher order sliding modes w. It can usually be found in most university control labs. Incremental sliding mode control of the ball and beam, ieee trans. Interpolating sliding mode observer for a ball and beam. Robust control of a ball and beam system through sliding mode.
Sliding mode control of ball and beam system research. Fuzzy slidingmode control for ball and beam system with fuzzy ant colony optimization. Experimental control design for ball and beam system issuu. The proposed faco algorithm is described and applied to some test benchmarks in section 4. Pdf position control of a ball beam experimental setup based on. This paper describes the design of a few types of controller for ball and beam system that consist of conventional controller, modern controller and intelligent.
Ball and plate system, sliding mode control, robust control, multivariable control, nonlinear control. Introduction the ball and beam system is a simple mechanical system which usually difficult to control. Third, the control model of the ball and beam system is built on the basis of adrc. The ball and beam system is open loop unstable since for a given constant angle of tilt on the beam, the balls position changes without limit. Application of sliding mode control to the ball and. Slidingmode control of a ball on wheel system youtube. Revisiting nonlinear control design of a ball on a beam system. Also, the selection conditions for the controller parameters are derived to preserve the system stability. The ball and beam system is also called balancing a ball on a beam. The aims of this research are to model the ball and beam system considering nonlinear factors and coupling effect and to design controllers to control the ball position. The lqr is designed considering two degreesoffreedom and coupling dynamics. Conventional pid controllers use incomplete simplified models and are mostly designed for linear. It is generally linked to real control problems such as horizontally stabilizing an airplane during landing and in turbulent airflow. Pdf design a dynamic sliding mode controller for a ballbeam.
For this system the gear and lever arm would not be used, instead a motor at the center of the beam will apply torque to the beam, to control the balls position. Abstracta principle of interpolating sliding mode observer is introduced in this paper. First, the model of the ball and beam system, including the motion equation of the system and the dc servomotor, is established. This allows us to design a sliding mode controller which overcomes the problems associated with. Second, adrc is designed and applied to the ball and beam system and the dc servomotor. Motion equations for the ball and beam and the ball and.605 625 427 1528 393 1420 773 567 1108 971 502 724 576 414 1484 1377 308 678 157 1437 1495 34 147 1388 1532 943 695 1558 130 818 1330 656 985 288 632 955 734 1240 618 420 1235 1134 1424 1343 633 500