期刊
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷 60, 期 6, 页码 2251-2263出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2012.2192891
关键词
Ball and beam system; dynamic surface control (DSC); Takagi-Sugeno (T-S) fuzzy modeling
资金
- High Speed Intelligent Communication Research Center, Chang Gung University, Taoyuan, Taiwan
In this paper, the balance control of a ball and beam system is considered. Based on the T-S fuzzy modeling, the dynamic model of the ball and beam system is formulated as a strict feedback form with modeling errors. Then, an adaptive dynamic surface control (DSC) is utilized to achieve the goal of ball positioning subject to parameter uncertainties. The robust stability of the closed-loop system is preserved by using the Lyapunov theorem. In addition to simulation results, the proposed T-S fuzzy model-based adaptive dynamic surface controller is applied to a real ball and beam system for practical evaluations. Simulation and experimental results illustrate that the proposed control scheme has much better performance than that of conventional DSC. Furthermore, parameter uncertainties and external disturbance are considered to highlight the robustness of the proposed control scheme.
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