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

Kód výsledku v 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>

Nalezeny alternativní kódy

RIV/68407700:21670/21:00352582

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20301 - Mechanical engineering

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2021

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

IEEE Access

ISSN

2169-3536

e-ISSN

2169-3536

Svazek periodika

2021

Číslo periodika v rámci svazku

Volume-9

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

9

Strana od-do

74437-74445

Kód UT WoS článku

000673547700001

EID výsledku v databázi Scopus

2-s2.0-85107116308