シャ　キンカ   Jinhua She   佘　錦華    所属   工学部 機械工学科    職種   教授
言語種別	英語
発行・発表の年月	2014/03
形態種別	学術論文
査読	査読あり
標題	Stabilization of an Underactuated Ball-and-Beam System Using a Second-Order Sliding Mode Control
執筆形態	共著
掲載誌名	Journal of Advanced Computational Intelligence and Intelligent Informatics
出版社・発行元	Fuji Technology Press Co., Ltd.
巻・号・頁	18(2),pp.121-127
担当範囲	Theorem
著者・共著者	Jie Yang, Qinglin Wang, Yuan Li, and Jinhua She
概要	This paper presents a stabilization method for an underactuated ball-and-beam system (BABS) based on a second-order sliding mode (SOSM) control. The BABS is an underactuated nonlinear system that is widely used to verify nonlinear control performance. Virtual control is introduced to a second-order BABS subsystem to minimize control performance inaccuracy by using model linearization. An actual virtual controller with variable finite-time tracking is achieved using a second-order sliding mode controller. An adaptive robust method is proposed to solve an uncertainty problem with unknown upper bounds, and then a finite-time convergence theory proof is given. Theory, simulation and experiment results verify the efficiency of the BABS controller.