Abstract:
This paper develops a linear extended state observer (LESO) based sliding mode controller (SMC) for the ball-beam system. Firstly, the model of the ball-beam system is es...Show MoreMetadata
Abstract:
This paper develops a linear extended state observer (LESO) based sliding mode controller (SMC) for the ball-beam system. Firstly, the model of the ball-beam system is established as a nonlinear system, in which the kinematic relationship of the angles between the gear and beam are considered. Then, the total disturbance including internal and external that is estimated by LESO and SMC is designed and implemented to control the ball position by adjusting the angle of the beam. As a result, a LESO based SMC is developed. Finally, we apply the LESO based SMC to the ball-beam system using MATLAB SIMULINK and Googol GBB2004, and compare the performances with other traditional methods, such as PD and active disturbance rejection control (ADRC). Both simulation and experiment results show that the combination of SMC and LESO performs better than the other two.
Published in: 2021 China Automation Congress (CAC)
Date of Conference: 22-24 October 2021
Date Added to IEEE Xplore: 14 March 2022
ISBN Information: