Sliding Mode Control Based Design for Stabilization and Trajectory Tracking for a 4 DOF Ball Balancer

This paper discusses a sliding mode controller based design for a ball balancer system. The approach used is to design a control law that satisfies asymptotic stability to tackle the problem of stabilization and trajectory tracking with minimum settling time and least energy consumption. Simulation...

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Bibliographic Details
Published in2022 Second International Conference on Power, Control and Computing Technologies (ICPC2T) pp. 1 - 5
Main Authors K, Akhil Mohammed K, Senapati, Shakti Prasad
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.03.2022
Subjects
Asymptotic stability
Asymptotic stabilization
Ball Balancer system
Computers
Control design
Energy consumption
Power control
Robustness
SMC
Trajectory tracking
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Summary:This paper discusses a sliding mode controller based design for a ball balancer system. The approach used is to design a control law that satisfies asymptotic stability to tackle the problem of stabilization and trajectory tracking with minimum settling time and least energy consumption. Simulation studies illustrate the superiority of a sliding mode control (SMC) in giving a better performance with lesser control effort. The robustness of the controller is examined in the presence of external disturbances. The simulations validated the control schemes implemented.
DOI:10.1109/ICPC2T53885.2022.9776807