{"title":"高阶滑动模态在球盘系统中的应用","authors":"Alexander Barth, C. Weise, J. Reger","doi":"10.1109/VSS.2018.8460469","DOIUrl":null,"url":null,"abstract":"This paper presents a control strategy that combines feedback-linearization with higher-order sliding-mode control for the tracking control of a cam-plate driven ball and plate system. The concept of the practical relative degree legitimates to reconsider the system representation as a simpler feedback-linearizable system. For the remaining linear dynamics, a higher-order sliding-mode algorithm serves to estimate the states required for a super-twisting controller. The effectiveness of the proposed approach is demonstrated on a laboratory test-bench imposing a circular trajectory for tracking.","PeriodicalId":127777,"journal":{"name":"2018 15th International Workshop on Variable Structure Systems (VSS)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Application of Higher-Order Sliding-Modes to a Ball and Plate System\",\"authors\":\"Alexander Barth, C. Weise, J. Reger\",\"doi\":\"10.1109/VSS.2018.8460469\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents a control strategy that combines feedback-linearization with higher-order sliding-mode control for the tracking control of a cam-plate driven ball and plate system. The concept of the practical relative degree legitimates to reconsider the system representation as a simpler feedback-linearizable system. For the remaining linear dynamics, a higher-order sliding-mode algorithm serves to estimate the states required for a super-twisting controller. The effectiveness of the proposed approach is demonstrated on a laboratory test-bench imposing a circular trajectory for tracking.\",\"PeriodicalId\":127777,\"journal\":{\"name\":\"2018 15th International Workshop on Variable Structure Systems (VSS)\",\"volume\":\"42 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2018-07-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2018 15th International Workshop on Variable Structure Systems (VSS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/VSS.2018.8460469\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 15th International Workshop on Variable Structure Systems (VSS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/VSS.2018.8460469","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Application of Higher-Order Sliding-Modes to a Ball and Plate System
This paper presents a control strategy that combines feedback-linearization with higher-order sliding-mode control for the tracking control of a cam-plate driven ball and plate system. The concept of the practical relative degree legitimates to reconsider the system representation as a simpler feedback-linearizable system. For the remaining linear dynamics, a higher-order sliding-mode algorithm serves to estimate the states required for a super-twisting controller. The effectiveness of the proposed approach is demonstrated on a laboratory test-bench imposing a circular trajectory for tracking.
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