Abstract
The work present improved methods for stabilizing ball-plate system with different variant of sliding mode control (SMC) like classical SMC, SSMC, RENN-optimized SMC, and SSTSMC based on their level of robustness in the presence of bounded disturbances. In this research, double-feedback loop was used in controlling the system, where PID controller, tuned with wAFSA, was used for the inner loop, while the variant SMC was used for the outer loop control. The results from the variant SMCs were compared as regards performance (rise-time and steady-state error) and disturbance rejection in order to determine the best variant. Therefore, best variant was the smoothed super-twisting SMC (3.2462 s and 1.2244e-04%, respectively) and robust disturbance rejection ability. The work is based on simulation in MATLAB.
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Hussein, S.U., Mu’azu, M.B., Humble, S.T., Akachukwu, C.M., Ovie, E., Mustapha, U.M. (2023). Robust Stabilization of Ball-Plate System with Higher-Order SMC. In: Yang, XS., Sherratt, S., Dey, N., Joshi, A. (eds) Proceedings of Seventh International Congress on Information and Communication Technology. Lecture Notes in Networks and Systems, vol 464. Springer, Singapore. https://doi.org/10.1007/978-981-19-2394-4_60
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DOI: https://doi.org/10.1007/978-981-19-2394-4_60
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