Title :
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
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;
Conference_Titel :
Systems, Man and Cybernetics, 2008. SMC 2008. IEEE International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-2383-5
Electronic_ISBN :
1062-922X
DOI :
10.1109/ICSMC.2008.4811788
