利用順滑模態控制之球與球系統穩定化

鄭文勝

doi:10.6844/NCKU.2011.01920

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利用順滑模態控制之球與球系統穩定化

Stablization of a Ball on Sphere System Using Sliding Mode Control

鄭文勝 , Masters　　Advisor：何明字　　

繁體中文 DOI： 10.6844/NCKU.2011.01920

非線性系統；順滑模態控制；強健控制； Nonlinear system ； Sliding mode control ； Robust control

Abstract │ Reference (38) │ Times Cited (5) │ Altmetrics

Abstract 〈TOP〉

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The inaccuracies in modeling of a physical system can lead to poor performance or even instability of the resulting control system. Robust control is one of the most important approaches to deal with model uncertainty, and sliding mode control is one of them. In this thesis, we consider the control design problem of a system, called the ball and sphere system. This system consists of two dc motors and a image sensor. The overhead image sensor is use to measure the displacement of the small ball on the top of the sphere. Two dc motors drive a big sphere to roll in two directions so that the small ball can be kept staying on the top of the sphere. The position of the sphere can be derived by the angle of rotation of the motor. This system is inherently nonlinear, unstable, and underactuated. The control of this system is a challenging task. In this thesis, we show that around the equilibrium point of the system can be decoupled into two independent ball and wheel systems. Based on sliding mode control, a controller is designed to achieve the closed-loop stability of the system. The simulation and experimental results are given to demonstrate and validate the effectiveness of the control scheme.

Reference ( 38 ) 〈TOP〉

[1] 劉士源，｢以回授線性化與順滑模態控制之球與球系統的平衡控制｣，國立成功大學工程科學系碩士論文，民國九十八年七月。
連結：
[2] T. B. Lauwers, G. A. Kantor, and R. L. Hollis, “A Dynamically Stable Single-Wheeled Mobile Robot with Inverse Mouse-Ball Drive,” Proceedings of 2006 IEEE International Conference on Robotics and Automation, pp. 2884-2889, 2006.
連結：
[4] V. I. Utkin, “Variable Structure Systems with Sliding Mode,’’ IEEE Transactions on Automatic Control, Vol. 39, pp. 1466-1470, 1977.
連結：
[7] J. L. Martin, A. Zuloaga, C. Cuadrado, J. Lazaro, and U. Bidarte, “Hardware Implementation of Optical Flow Constraint Equation Using FPGAs,” Computer Vision and Image Understanding, Vol. 98, pp. 462-490, 2005.
連結：
[9] C. T. Huitzil and M. A. Estrada, “Real-Time Image Processing with a Compact FPGA-Based Systolic Architecture,” Real-Time Imaging, Vol. 10, pp. 177-187, 2004.
連結：

Times Cited (5) 〈TOP〉

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