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

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