关键词: 节点约束, 平衡控制策略, 能量控制, 球杆系统

Abstract: In this paper, the balance control problem of set-point is studied about the ball and beam system based on the joint constraint. According to the position of the ball, the structure of the ball and beam system is divided into two types：the normal ball and beam system and the single pendulum system. The motion characteristics of both the two systems and their switching are analyzed. A control scheme based on the Lyapunov method is proposed to solve the balance problem of the ball and beam system based on the joint constraint. It is proved that the solutions make the closed-loop system converge to the desired balance state exactly by using the proposed control scheme. The simulations result is given.

Key words: joint constraint, balance control scheme, energy control, ball and beam system