Incremental sliding mode control of the ball and beam

IEEE Transactions on Automatic Control

Volumn 47, Issue 10, 2002, Pages 1696-1700

  Hirschorn, Ron M ^a  

^a QUEEN S UNIVERSITY   (Canada)

Author keywords

Ball and beam; Discontinuous feedback; Sliding mode control

Indexed keywords

FEEDBACK; SWITCHING; TIME VARYING SYSTEMS; VECTORS;

DISCONTINUOUS FEEDBACK;

SLIDING MODE CONTROL;

EID: 0036804152     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/TAC.2002.803538     Document Type: Article

References (15)

1. C. Barbu, R. Sepulchre, P. Kokotovic, and W. Lin, "Global asymptotic stabilization of the ball and beam model," presented at the 36th Conf. Decision and Control, San Diego, CA, 1977.
2. R.W. Brockett, "Characteristic phenomena and model problems in nonlinear control," in Proc. 1996 IFAC Congr., vol. G, 1996, pp. 135-140.
3. P.E. Crouch, I. Ighneiwa, and F. Lamnabhi-Lagarrigue, "On the singular tracking problem," in MCSS, vol. 4, 1991, pp. 339-360.
4. A.F. Filippov, Differential Equations With Discontinuous Righthand Sides. Norwell, MA: Kluwer, 1988.
5. A.F. Filippov, "Differential equations with discontinuous right-hand side," Amer. Math. Soc. Trans., vol. 42, pp. 199-231, 1964.
6. J. Hauser, S. Sastry, and P. Kokotovic, "Nonlinear control via approximate input-output linearization: The ball and beam example," IEEE Trans. Automat. Contr., vol. 37, pp. 392-398, Mar. 1992.
7. R.M. Hirschorn, "Output tracking through singularities," SIAM J. Control Optim., vol. 40, no. 4, pp. 993-1010, 2001.
8. R.M. Hirschorn and E. Aranda-Bricaire, "Global approximate output tracking for nonlinear systems," IEEE Trans. Automat. Contr., vol. 43, pp. 1389-1398, Oct. 1998.
9. A. Isidori, Nonlinear Control Systems, 2nd ed. New York: Springer-Verlag, 1989.
10. B. Jakubczyk and F. Lamnabhi-Lagarrigue, "On tracking through singularities: Regularity of the control," Syst. Control Lett., vol. 21, no. 4, pp. 271-276, 1993.
11. J.-B. Pomet, "On the curves that may be approached by trajectories of a smooth affine system," Syst. Control Lett., vol. 36, pp. 143-149, 1999.
12. R. Sepulchre, "Slow peaking and low-gain designs for global stabilization of nonlinear systems," IEEE Trans. Automat. Contr., submitted for publication.
13. C.J. Tomlin and S.S. Sastry, "Switching through singularities," in Proc. 36th IEEE Conf. Decision and Control, vol. 17, 1997, pp. 1-6.
14. A. Teel, "Semi-global stabilization of the ball and beam using output feedback," presented at the Amer. Control Conf., San Diego, CA, 1993.
15. F.W. Warner, Foundations of Differentiable Manifolds and Lie Groups. Glenview, IL: Scott, Foresman, 1971.