Adaptive backstepping control design for ball and beam system

Al-Dujaili, Ayad Q.; Humaidi, Amjad J.; Pereira, Daniel A.; Ibraheem, Ibraheem Kasim

doi:10.1556/1848.2021.00193

Cited by 13 publications

(4 citation statements)

References 43 publications

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“…However, from the literature search, not much research had been reported on a hybrid fuzzy PID particularly applied on a ball and beam system. Different algorithm rather than PID had also been studied for ball and beam control such as backstepping control [20], pole-placement control [21] and loop shaping control. All of these control techniques require a statespace model and the design is based on certain control objectives.…”

Section: Literature Reviewsmentioning

confidence: 99%

Design and Evaluation of Self-Tuning Fuzzy PID Controller with Reference Model for Ball and Beam Mechanism

Tajjudin¹,

Pezol²,

Rahiman³

2022

IJETAE

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—Fuzzy Logic controller is one of the popular techniques in control system. However, the accuracy depends on numbers and the design of membership functions. Further, the output does not always fulfill specific design requirements. In this study, Fuzzy PID controller with first-order reference model had been designed and evaluated. The proposed new structure is able to guide fuzzy mechanism to produce desired output response as specified by the first-order model such as the time constant, rise time and settling time. The study was implemented on a ball and beam system to control the position of the ball while rolling on a beam. The control of a ball and beam system is challenging because it is an open-loop unstable system as the ball will continuously moves on the beam without control. The study also compares the results acquired from Fuzzy PID and Fuzzy PI plus PD against the proposed Fuzzy PID with first-order reference model controller. The evaluation covers for a pole starting from 0 until 1.0 for the first-order model. As a results, the proposed controller is able to produce an output response as specified where the fastest response was acquired when pole is set to 0.9. Whereas the Fuzzy PID and Fuzzy PI plus PD always produce the same transient response during step input test.

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Section: Literature Reviewsmentioning

confidence: 99%

Design and Evaluation of Self-Tuning Fuzzy PID Controller with Reference Model for Ball and Beam Mechanism

Tajjudin¹,

Pezol²,

Rahiman³

2022

IJETAE

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“…Many nonlinear control systems have been documented for academic education to learn about feedback control in control engineering courses. As a standard, the ball and beam is a classic example of such a system [8].…”

Section: Introductionmentioning

confidence: 99%

PID Cascade Controller Design for an Unstable System

Saad¹

2023

PID Control for Linear and Nonlinear Industrial Processes

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In control engineering, the control of an unstable system is very concerning. An example of an unstable system that uses control principles is a ball and beam balancer system. This system consists of a long beam attached to a motor at its midpoint. A steel ball moves on the top of the beam with an acceleration proportional to the beam angle. If the system is uncontrolled well, the steel ball may fall from the beam. This paper presents an approach to modeling and controlling the ball position for the ball and beam balancer system. Starting with a mathematical equation for the nonlinear system, the model of the system is produced. Then, it demonstrates the design of the PID cascade controller system to stabilize the system and regulate the ball to its reference position. The performance of the system was evaluated and tested for set-point tracking signal and disturbance rejection test. The simulation studies were done using Matlab Simulink and the results indicated that the proposed approach yields robust closed-loop performance.

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“…The control system looks like a brain that tells a dynamic system how to behave and react to responses. Adaptive backstepping control was designed [12] for the ball and beam system, considering parameter uncertainties. The backstepping controller [13] is a well-known technique in control systems that has been used in many applications.…”

Section: Introductionmentioning

confidence: 99%

Evolutionary control system of asymmetric quadcopter

Ghafil

Jármai

2023

IRASE

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Drones, specifically quadcopters, have increased in importance during the last years due to their wide range of applications, from civil applications to military employment. One of the most important issues in quadcopters is the efficient control system. While many researchers have dealt with building control systems for symmetric quadcopters, this work presents an efficient control system for asymmetric quadcopters using evolutionary computations. The problem is well-defined throughout the paper, and the methodology is explained in detail in the respective sections. A genetic algorithm is used to tune the weighting matrix of the control system after formulating the control system as an optimization problem. The genetic algorithm was fast and active to increase the performance of the proposed system.

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Adaptive backstepping control design for ball and beam system

Cited by 13 publications

References 43 publications

Design and Evaluation of Self-Tuning Fuzzy PID Controller with Reference Model for Ball and Beam Mechanism

Design and Evaluation of Self-Tuning Fuzzy PID Controller with Reference Model for Ball and Beam Mechanism

PID Cascade Controller Design for an Unstable System

Evolutionary control system of asymmetric quadcopter

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