Adaptive control of the ball and beam plant in the presence of sensor measure outliers

Lemos, João M.; Silva, R.N.; Marques, Jorge S.

doi:10.1109/acc.2002.1025381

Cited by 4 publications

(2 citation statements)

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“…Ibanez [8] designed the control with the inverse Lyapunov approach. Lemos [9], Marton [10], Turker [11], Koo [12], and Naredo [13] used adaptive control. Xi [14] used nonlinear predictive control.…”

Section: Introductionmentioning

confidence: 99%

Observer Design for a Variable Moment of Inertia System

Baranowski¹

2021

Energies

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Variable moment of inertia systems are common, and a popular laboratory system of this type is the “ball-and-beam”. Such systems are, however, nonlinear and often unstable. Efficient control requires full state information (or at least partial velocities), which are generally difficult to measure. That is why the design of state observers is a relevant problem. In this paper, a new design of an observer is proposed. This new nonlinear observer uses partial output injection and the circle criterion to ensure semiglobal stability. Moreover, we present a complete modeling of the system and systematic testing of the observer in comparison to a baseline in the form of a linear observer. The results show that the designed observer outperforms its linear counterpart and does not impede control.

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Section: Introductionmentioning

confidence: 99%

Observer Design for a Variable Moment of Inertia System

Baranowski¹

2021

Energies

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“…In [23], on the other hand, a geometric matching control strategy is used, which is a complex nonlinear design technique. In [24], an adaptive control strategy is used for a similar plant. In all those works, the control strategies manage to reduce significantly the effect of disturbances in simulation (and some of them, experimentally).…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Ball and Beam Control System Identification

Colón

Bueno

Andrade

et al. 2014

AMM

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The Ball and Beam system is a common didactical experiment in control laboratories that can be used to illustrate many different closed-loop control techniques. The plant itself is subjected to many nonlinear effects, which the most common comes from the relative motion between the ball and the beam. The modeling process normally uses the lagrangean formulation. However, many other nonlinear effects, such as non-viscous friction, beam flexibility, ball slip, actuator elasticity, collisions at the end of the beam, to name a few, are present. Besides that, the system is naturally unstable. In this work, we analyze a subset of these characteristics, in which the ball rolls with slipping and the friction force between the ball and the beam is non-viscous (Coulomb friction). Also, we consider collisions at the ends of the beam, the actuator consists of a (rubber made) belt attached at the free ends of the beam and connected to a DC motor. The model becomes, with those nonlinearities, a differential inclusion system. The elastic coefficients of the belt are experimentally identified, as well as the collision coefficients. The nonlinear behavior of the system is studied and a control strategy is proposed.

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Control of Neuromuscular Blockade in the Presence of Sensor Faults

Lemos

Magalhães

Mendonça

et al. 2005

IEEE Trans. Biomed. Eng.

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The problem of embedding sensor fault tolerance in feedback control of neuromuscular blockade is considered. For tackling interruptions of feedback measurements, a structure based upon Bayesian inference as well as a predictive filter is proposed. This algorithm is general and can be applied to different situations. Here, it is incorporated in an adaptive automatic system for feedback control of neuromuscular blockade using continuous infusion of muscle relaxants. A significant contribution consists in the experimental clinical testing of the algorithm in patients undergoing surgery.

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Adaptive control of the ball and beam plant in the presence of sensor measure outliers

Cited by 4 publications

References 0 publications

Observer Design for a Variable Moment of Inertia System

Observer Design for a Variable Moment of Inertia System

Nonlinear Ball and Beam Control System Identification

Control of Neuromuscular Blockade in the Presence of Sensor Faults

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