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

Abstract

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.