| Title |
Stabilization of Ball-Beam System using RVEGA SMC |
| Authors |
김태우(Kim, Tae-Woo) ; 이준탁(Lee, Joon-Tark) |
| Keywords |
Doble PID Controller(DPIDC) ; Full State Feedback Controller(FSFC) ; Real Variable Elitist Genetic Algorithm based Sliding Mode Control(RVEGA SMC) |
| Abstract |
The stabilization control of ball-beam system is difficult because of its nonlinearity and structural unstability. Futhermore, a series of classical methods such as the PID and the full state feedback controller(FSFC) based on the local linearizations have narrow stabilizable regions. At the same time, the fine tunings of their gain parameters are also troublesome. Therefore, in this paper, three improved design techniques of stabilization controller for a ball-beam system were proposed. These parameter tuning methods in the double PID controller(DPIDC), the FSFC and the a sliding mode controller(SMC) were dependent upon the Real Value Elitist Genetic Algorithm (RVEGA). Finally, by applying the DPIDC, the FSFC and the Real Variable Elitist Genetic Algorithm based Sliding Mode Control(RVEGA SMC) to the stabilizations of a ball-beam system, the performances of the RVEGA SMC technique were showed to be superior to those of two other type controllers. |