DocumentCode :
2425422
Title :
Stabilization of a circular ball-and-beam system
Author :
Ravichandran, Aakash A. ; Mahindrakar, Arun D.
Author_Institution :
Dept. of Electr. Eng., Indian Inst. of Technol. Madras, Chennai, India
fYear :
2010
fDate :
7-10 Dec. 2010
Firstpage :
2227
Lastpage :
2230
Abstract :
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.
Keywords :
beams (structures); eigenvalues and eigenfunctions; nonlinear control systems; stability; structural engineering; backstepping methodology; circular ball-and-beam system; circular beam system; eigenvalues; horizontal beam; nonlinear coordinate transformations; stabilizing controller; state-space representation; under actuated mechanical system; Backstepping; Conferences; Equations; Lyapunov method; Mathematical model; Simulation; Trajectory; Underactuated; asymptotic stability; backstepping;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-7814-9
Type :
conf
DOI :
10.1109/ICARCV.2010.5707211
Filename :
5707211
Link To Document :
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