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Stabilization of a circular ball-and-beam system

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2 Author(s)
Ravichandran, A.A. ; Dept. of Electr. Eng., Indian Inst. of Technol. Madras, Chennai, India ; Mahindrakar, A.D.

The ball on a circular beam system is an under-actuated mechanical system that is challenging control problem compared to its variant: the ball on a horizontal beam. The control challenge stems out from the fact that the ball on a circular beam system has two unstable eigenvalues unlike its variant which has one. A stabilizing controller synthesized using backstepping methodology is presented. In doing so, a series of nonlinear coordinate transformations is applied on the equations of motion to arrive at a state-space representation which is in the so called quadratic non-triangular normal form. Simulation results are presented to demonstrate the effectiveness of the proposed controller in stabilizing the system while respecting the physical constraints on the system.

Published in:

Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on

Date of Conference:

7-10 Dec. 2010