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Year 2020, Volume 41, Issue 2, 534 - 541, 25.06.2020
https://doi.org/10.17776/csj.672716

Abstract

References

  • [1] Dušek F., Honc D. and Sharma K.R. Modelling of ball and plate system based on first principle model and optimal control. 21st International Conference on Process Control (PC), (2017) 216-221.
  • [2] Knuplez A., Chowdhury A. and Svecko R. Modeling and control design for the ball and plate system. IEEE International Conference on Industrial Technology, (2003) 1064-1067.
  • [3] Dong X., Zhang Z. and Chen C. Applying genetic algorithm to on-line updated PID neural network controllers for ball and plate system. Fourth International Conference on Innovative Computing, Information and Control (ICICIC), (2009) 751-755.
  • [4] Liu H., Liang Y., Trajectory tracking sliding mode control of ball and plate system. 2nd International Asia Conference on Informatics in Control, Automation and Robotics, (2010) 142-145.
  • [5] Liu D., Tian Y. and Duan H. Ball and plate control system based on sliding mode control with uncertain items observe compensation. IEEE International Conference on Intelligent Computing and Intelligent Systems, 2 (2009) 216-221.
  • [6] Hongrui W., Yantao T., Siyan F. and Zhen S. Nonlinear control for output regulation of ball and plate system. 27th Chinese Control Conference, (2008) 382-387.
  • [7] Hauser J., Sastry S. and Kokotovic P. Nonlinear control via approximate input-output linearization: The ball and beam example. IEEE Transactions on Automatic Control, 37(3) (1992) 392-398.
  • [8] Yıldız H. A., Gören-Sümer L., Stabilizing of ball and plate system using an approximate model. IFAC-PapersOnLine, 50(1) (2017) 9601-9606.
  • [9] Bang H., Lee Y. S., Implementation of a ball and plate control system using sliding mode control. IEEE Access, 6 (2018) 32401-32408.
  • [10] Mohammadi A., Ryu J. C., Neural network-based PID compensation for nonlinear systems: ball-on-plate example. International Journal of Dynamics and Control, 8 (2020) 178-188.
  • [11] Umar A., Haruna Z., Musa U., Mohammed S. A., and Muyideen M. O. Graphical user interface (GUI) for position and trajectory tracking control of the ball and plate system using H-infinity controller. Covenant Journal of Informatics and Communication Technology, 7(1) (2019) 35-56.
  • [12] Ghiasi A.R., Jafari H., Optimal robust controller design for the ball and plate system. 9th International Conference on Electronics Computer and Computation, ICECCO-2012.
  • [13] Geng L., Yang Z., and Zhang Y. A weighting function design method for the H-infinity loop-shaping design procedure. Chinese Control And Decision Conference (CCDC), (2018) 4489-4493.
  • [14] Bolívar-Vincenty C. G., Beauchamp-Báez G., Modelling the ball-and-beam system from newtonian mechanics and from lagrange methods. Twelfth LACCEI Latin American and Caribbean Conference for Engineering and Technology, (2014) 22-24.
  • [15] Apkarian P., Adams R.J., Advanced gain-scheduling techniques for uncertain systems. IEEE Transactions on Control Systems Technology, 6(1) (1998) 21-32.

Dynamic output-feedback H_∞ control design for ball and plate system

Year 2020, Volume 41, Issue 2, 534 - 541, 25.06.2020
https://doi.org/10.17776/csj.672716

Abstract

Ball and plate system is a nonlinear and unstable system, thus introducing great challenges to control scientists and it resembles many complicated real-time systems in several perspectives. There has been a good number of efforts to design a stabilizing controller for this system. This paper presents a dynamic output-feedback H_∞ control strategy for the plate and ball system based on the solution of linear matrix inequalities (LMIs). The discussion involves deriving the equations of motion of the system by using the Lagrange method, linearizing the nonlinear equations, and designing an H_∞ controller to achieve required tracking specifications on the position of the ball. The intent is to show the specified trajectory tracking performance outcomes in time domain via simulation studies conducted using MATLAB/Simulink. A circular and square trajectory following of the designed controller is compared with a baseline PID controller. It is revealed that the proposed controller exhibits an improved tracking performance to following the reference trajectories.

References

  • [1] Dušek F., Honc D. and Sharma K.R. Modelling of ball and plate system based on first principle model and optimal control. 21st International Conference on Process Control (PC), (2017) 216-221.
  • [2] Knuplez A., Chowdhury A. and Svecko R. Modeling and control design for the ball and plate system. IEEE International Conference on Industrial Technology, (2003) 1064-1067.
  • [3] Dong X., Zhang Z. and Chen C. Applying genetic algorithm to on-line updated PID neural network controllers for ball and plate system. Fourth International Conference on Innovative Computing, Information and Control (ICICIC), (2009) 751-755.
  • [4] Liu H., Liang Y., Trajectory tracking sliding mode control of ball and plate system. 2nd International Asia Conference on Informatics in Control, Automation and Robotics, (2010) 142-145.
  • [5] Liu D., Tian Y. and Duan H. Ball and plate control system based on sliding mode control with uncertain items observe compensation. IEEE International Conference on Intelligent Computing and Intelligent Systems, 2 (2009) 216-221.
  • [6] Hongrui W., Yantao T., Siyan F. and Zhen S. Nonlinear control for output regulation of ball and plate system. 27th Chinese Control Conference, (2008) 382-387.
  • [7] Hauser J., Sastry S. and Kokotovic P. Nonlinear control via approximate input-output linearization: The ball and beam example. IEEE Transactions on Automatic Control, 37(3) (1992) 392-398.
  • [8] Yıldız H. A., Gören-Sümer L., Stabilizing of ball and plate system using an approximate model. IFAC-PapersOnLine, 50(1) (2017) 9601-9606.
  • [9] Bang H., Lee Y. S., Implementation of a ball and plate control system using sliding mode control. IEEE Access, 6 (2018) 32401-32408.
  • [10] Mohammadi A., Ryu J. C., Neural network-based PID compensation for nonlinear systems: ball-on-plate example. International Journal of Dynamics and Control, 8 (2020) 178-188.
  • [11] Umar A., Haruna Z., Musa U., Mohammed S. A., and Muyideen M. O. Graphical user interface (GUI) for position and trajectory tracking control of the ball and plate system using H-infinity controller. Covenant Journal of Informatics and Communication Technology, 7(1) (2019) 35-56.
  • [12] Ghiasi A.R., Jafari H., Optimal robust controller design for the ball and plate system. 9th International Conference on Electronics Computer and Computation, ICECCO-2012.
  • [13] Geng L., Yang Z., and Zhang Y. A weighting function design method for the H-infinity loop-shaping design procedure. Chinese Control And Decision Conference (CCDC), (2018) 4489-4493.
  • [14] Bolívar-Vincenty C. G., Beauchamp-Báez G., Modelling the ball-and-beam system from newtonian mechanics and from lagrange methods. Twelfth LACCEI Latin American and Caribbean Conference for Engineering and Technology, (2014) 22-24.
  • [15] Apkarian P., Adams R.J., Advanced gain-scheduling techniques for uncertain systems. IEEE Transactions on Control Systems Technology, 6(1) (1998) 21-32.

Details

Primary Language English
Subjects Basic Sciences
Journal Section Engineering Sciences
Authors

Serdar COŞKUN (Primary Author)
Tarsus Üniversitesi, Teknoloji Fakültesi
0000-0002-7080-0340
Türkiye

Publication Date June 25, 2020
Application Date January 9, 2020
Acceptance Date April 27, 2020
Published in Issue Year 2020, Volume 41, Issue 2

Cite

APA Coşkun, S. (2020). Dynamic output-feedback H_∞ control design for ball and plate system . Cumhuriyet Science Journal , 41 (2) , 534-541 . DOI: 10.17776/csj.672716