ROBOTICA & MANAGEMENT - Vol. 24, No. 2, December 2019, pp. 19-23

Trajectory Control for Ball and Beam Using Sliding Mode Algorithm with Disturbance Adaptability

Minh-Tam Nguyen *, Xuan-Dung Huynh *, Chi-Dung Tran *, Huu-Sung Vuong  *, Duc-Minh Vu *, Dinh-Dat Vu **

* Ho Chi Minh city University of Technology and Education (HCMUTE)
Vo Van Ngan street, No. 1, Thu Duc District, Ho Chi Minh City, Vietnam

** National Pukyong University
Yongso-ro 45, Nam-gu, Busan City, South Korea

Abstract: In this paper, we solve problems about trajectory control of ball and beam system under external disturbance. Firstly, authors use sliding mode control for problem control multi-position of ball. Secondly, we design nonlinear disturbance observer to detect external force which obstruct controlling of sliding mode control. Thirdly, we proposed  external disturbance adaptability control to get the best performance. We also design nonlinear observer states called discrete Kalman observer to improve the quality control. Simulation and experimental results are obtained to prove the effectiveness of proposed control.

Keywords: trajectory control; ball and beam; sliding mode control; external disturbance observer; Kalman observer.

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