Design a dynamic sliding mode controller for a ball-beam system
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phanthanhphuc@gmail.comKeywords:
Sliding mode control, balance control, PD-Fuzzy, ball and beam, under-actuated systemsAbstract
This paper present the dynamic sliding mode controller to control a ball-beam system. These purposes compare results with Static and Fuzzy sliding mode control [2], [4-6] (SSMC and FSMC). A lot of studies is proposed to control nonlinear system as well as this ball on a beam system such as PD-Fuzzy, sliding mode control (SMC). However, every algorithm has advantages and disadvantages. Control parameters of the PD-Fuzzy controller can be chosen due to the expert’s experiences and parameters of PD is fixed in the operating of the system which makes system non-flexible. SMC is response very good however appearance phenomenon chattering by Sign function in the sliding surface. This paper proposes a solution to reduce phenomenon chattering by algorithm dynamic sliding mode controller (DSMC). Simulations, as well as implementation results on real experiments, showed that the proposed control works well.
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