Stabilization of a circular ball-and-beam system with input and state constraints using linear matrix inequalities

Author

Abhilash, P.M. ; Mahindrakar, Arun D.

Author_Institution

Dept. of Electr. Eng., Indian Inst. of Technol. Madras, Chennai

fYear

2008

fDate

12-15 Oct. 2008

Firstpage

3201

Lastpage

3205

Abstract

This paper deals with the stabilization of an under-actuated circular ball-and-beam system with constraints on the beam angle, ball traverse and the torque input. The constraints are formulated as a set of LMI´s and a feedback control law is synthesized to maximize the basin of attraction of the unstable equilibrium. Simulation results are used to validate the proposed control strategy.

Keywords

beams (structures); feedback; linear matrix inequalities; mechanical variables control; stability; ball traverse; beam angle; feedback control law; input constraints; linear matrix inequalities; stabilization; state constraints; torque input; under-actuated circular ball-and-beam system; unstable equilibrium; Aerospace industry; Automotive engineering; Constraint optimization; Control system synthesis; Control systems; Feedback control; Linear matrix inequalities; Paper technology; Service robots; Torque; LMI; state constraints; underactuated;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 2008. SMC 2008. IEEE International Conference on

Conference_Location

Singapore

ISSN

1062-922X

Print_ISBN

978-1-4244-2383-5

Electronic_ISBN

1062-922X

Type

conf

DOI

10.1109/ICSMC.2008.4811788

Filename

4811788