JACIII Vol.18 No.2 pp. 121-127
doi: 10.20965/jaciii.2014.p0121


Stabilization of an Underactuated Ball-and-Beam System Using a Second-Order Sliding Mode Control

Jie Yang*, Qinglin Wang*, Yuan Li*,
and Jinhua She**

*School of Automation, Beijing Institute of Technology, 5 South Zhongguancun Street, Haidian, Beijing 100081, China

**School of Computer Science, Tokyo University of Technology, 1401-1 Katakura, Hachioji, Tokyo 192-0982, Japan

May 22, 2013
January 4, 2014
March 20, 2014
ball-and-beam, second-order sliding mode, uncertainty, finite-time convergence

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.

Cite this article as:
Jie Yang, Qinglin Wang, Yuan Li, and
and Jinhua She, “Stabilization of an Underactuated Ball-and-Beam System Using a Second-Order Sliding Mode Control,” J. Adv. Comput. Intell. Intell. Inform., Vol.18, No.2, pp. 121-127, 2014.
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Last updated on Mar. 05, 2021