A Linear Parameter Varying Strategy Based Integral Sliding Mode Control Protocol Development and Its Implementation on Ball and Beam Balancer
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F21%3A00352582" target="_blank" >RIV/68407700:21220/21:00352582 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21670/21:00352582
Result on the web
<a href="https://doi.org/10.1109/ACCESS.2021.3081521" target="_blank" >https://doi.org/10.1109/ACCESS.2021.3081521</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ACCESS.2021.3081521" target="_blank" >10.1109/ACCESS.2021.3081521</a>
Alternative languages
Result language
angličtina
Original language name
A Linear Parameter Varying Strategy Based Integral Sliding Mode Control Protocol Development and Its Implementation on Ball and Beam Balancer
Original language description
An Integral Sliding Mode (ISM) based robust 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.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20301 - Mechanical engineering
Result continuities
Project
—
Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
IEEE Access
ISSN
2169-3536
e-ISSN
2169-3536
Volume of the periodical
2021
Issue of the periodical within the volume
Volume-9
Country of publishing house
US - UNITED STATES
Number of pages
9
Pages from-to
74437-74445
UT code for WoS article
000673547700001
EID of the result in the Scopus database
2-s2.0-85107116308