Abstract
This paper develops a linear extended state observer (LESO) based sliding mode controller (SMC) for the ball-beam system. Firstly, the model of the ball-beam system is established as a nonlinear system, in which the kinematic relationship of the angles between the gear and beam are considered. Then, the total disturbance including internal and external that is estimated by LESO and SMC is designed and implemented to control the ball position by adjusting the angle of the beam. As a result, a LESO based SMC is developed. Finally, we apply the LESO based SMC to the ball-beam system using MATLAB SIMULINK and Googol GBB2004, and compare the performances with other traditional methods, such as PD and active disturbance rejection control (ADRC). Both simulation and experiment results show that the combination of SMC and LESO performs better than the other two.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
