A Linear Parameter Varying Strategy Based Integral Sliding Mode Control Protocol Development and Its Implementation on Ball and Beam Balancer

IEEE Access

Qudrat Khan¹  Aamer Iqbal Bhatti²  Imran Khan Yousufzai³  Rahat Ullah⁴  Farrukh Waheed⁵  Rini Akmeliawati⁶ 

[1] Center for Advanced Studies in Telecommunications, COMSATS University, Islamabad, Pakistan;Department of Electrical Engineering, Capital University of Science and Technology, Islamabad, Pakistan;Department of Electrical Engineering, College of Engineering and Technology, University of Sargodha, Sargodha, Pakistan;Department of Electrical Engineering, Federal Urdu University of Arts, Science and Technology, Islamabad, Pakistan;Department of Mechanics, Biomechanics and Mechatronics, Faculty of Mechanical Engineering, Czech Technical University (CTU) in Prague, Prague 6, Czech Republic;School of Mechanical Engineering, The University of Adelaide, Adelaide, SA, Australia;

关键词: Ball and beam balancer;    integral sliding mode control;    linear matrix inequality;    linear parameter varying approach;   

DOI  :  10.1109/ACCESS.2021.3081521

来源: DOAJ

【 摘 要 】

An Integral Sliding Mode (ISM) based robustified Linear Parameter Varying (LPV) control is presented for a laboratory scale ball on a beam balancer system. The inherent input channel nonlinearity and under-actuated coupled dynamics make it a challenging control problem. The ISM control, being famous for reaching phase elimination, operates under the action of a control input which is usually an algebraic sum of a continuous and a discontinuous component. In the design of continuous component, the LPV form is used to linearize the otherwise non linearizable input channel nonlinearity. Hence, an LPV control is designed to cope with the varying dynamics. On the other hand, the discontinuous component diminishes the effect of norm bounded matched disturbances. In addition, the discontinuous control component is made smooth (chattering free) in order to generate a continuous control signal. The stability of the proposed algorithm is presented rigorously in terms of a theorem and is validated experimentally.

【 授权许可】

Unknown