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Finite-time Adaptive Gain Terminal Sliding Mode Control for Uncertain Ball and Beam System Based on Honey Badger-RBF Algorithm
Author(s)
Date Issued
August 1, 2025
Type
Article
Abstract
This paper presents a finite-time fast terminal sliding mode control (FTSMC) for an uncertain ball and beam system (BBS) to achieve desired states or corrections within a finite time frame, which is a crucial aspect of the control system performance. An integral-based parameter identification method was first derived to give a nominal model of the BBS before designing the FTSMC. A robustness analysis reveals that this method could robustly achieve identification within a bound. The designed FTSMC was enhanced through the use of the honey badger algorithm (HBA), which was combined with the normal radial basis function neural network (RBF-NN) to create an HBA-RBF network. Experimental results show that the proposed HBA-RBF network-based finite-time adaptive terminal sliding mode controller improved the response rate, as well as reduced the risk of chattering. The HBA-RBF network not only enhances controller performance but also ensures robust and reliable control, making it a promising approach for handling uncertainties in control systems.
Citation
International Journal of Control Automation and Systems, 23(8), 2433-2450, 2025