Backstepping adaptive dynamical sliding mode control method for ball and plate system
An adaptive dynamic sliding mode control method is proposed for the tracking of the expected trajectory of the ball and plate system. Considering the unpredictability of the external disturbance and the uncertainty in the actual situation,it combines with the adaptive control to estimate the unknown...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
National Computer System Engineering Research Institute of China
2018-07-01
|
| Series: | Dianzi Jishu Yingyong |
| Subjects: | |
| Online Access: | http://www.chinaaet.com/article/3000087232 |
| _version_ | 1811202059481907200 |
|---|---|
| author | Hao Wei Zhang Hongli |
| author_facet | Hao Wei Zhang Hongli |
| author_sort | Hao Wei |
| collection | DOAJ |
| description | An adaptive dynamic sliding mode control method is proposed for the tracking of the expected trajectory of the ball and plate system. Considering the unpredictability of the external disturbance and the uncertainty in the actual situation,it combines with the adaptive control to estimate the unknown boundary. In order to effectively weaken the dependence on the mathematical model, the dynamic surface strategy is introduced to avoid the phenomenon of differential big explosion in inversion method. Considering whether there are any external uncertainties, the two experimental environments are divided into two kinds of experimental environment, and the simulation experiment is carried out using the method of this paper and the method of dynamic sliding mode. The simulation results show that the designed controller is not sensitive to system parameter perturbation and external disturbance.The method can realize the trajectory tracking of the ball well, and has good dynamic tracking performance, which shows strong robustness and adaptive characteristics. |
| first_indexed | 2024-04-12T02:32:35Z |
| format | Article |
| id | doaj.art-ce0b82be10d845dd85ec2ed16e113102 |
| institution | Directory Open Access Journal |
| issn | 0258-7998 |
| language | zho |
| last_indexed | 2024-04-12T02:32:35Z |
| publishDate | 2018-07-01 |
| publisher | National Computer System Engineering Research Institute of China |
| record_format | Article |
| series | Dianzi Jishu Yingyong |
| spelling | doaj.art-ce0b82be10d845dd85ec2ed16e1131022022-12-22T03:51:43ZzhoNational Computer System Engineering Research Institute of ChinaDianzi Jishu Yingyong0258-79982018-07-0144713914210.16157/j.issn.0258-7998.1740863000087232Backstepping adaptive dynamical sliding mode control method for ball and plate systemHao Wei0Zhang Hongli1School of Electrical Engineering，Xinjiang University，Urumchi 830047，ChinaSchool of Electrical Engineering，Xinjiang University，Urumchi 830047，ChinaAn adaptive dynamic sliding mode control method is proposed for the tracking of the expected trajectory of the ball and plate system. Considering the unpredictability of the external disturbance and the uncertainty in the actual situation,it combines with the adaptive control to estimate the unknown boundary. In order to effectively weaken the dependence on the mathematical model, the dynamic surface strategy is introduced to avoid the phenomenon of differential big explosion in inversion method. Considering whether there are any external uncertainties, the two experimental environments are divided into two kinds of experimental environment, and the simulation experiment is carried out using the method of this paper and the method of dynamic sliding mode. The simulation results show that the designed controller is not sensitive to system parameter perturbation and external disturbance.The method can realize the trajectory tracking of the ball well, and has good dynamic tracking performance, which shows strong robustness and adaptive characteristics.http://www.chinaaet.com/article/3000087232ball and plate systemsliding-mode variable structuretrajectory trackingstability analysisadaptive |
| spellingShingle | Hao Wei Zhang Hongli Backstepping adaptive dynamical sliding mode control method for ball and plate system Dianzi Jishu Yingyong ball and plate system sliding-mode variable structure trajectory tracking stability analysis adaptive |
| title | Backstepping adaptive dynamical sliding mode control method for ball and plate system |
| title_full | Backstepping adaptive dynamical sliding mode control method for ball and plate system |
| title_fullStr | Backstepping adaptive dynamical sliding mode control method for ball and plate system |
| title_full_unstemmed | Backstepping adaptive dynamical sliding mode control method for ball and plate system |
| title_short | Backstepping adaptive dynamical sliding mode control method for ball and plate system |
| title_sort | backstepping adaptive dynamical sliding mode control method for ball and plate system |
| topic | ball and plate system sliding-mode variable structure trajectory tracking stability analysis adaptive |
| url | http://www.chinaaet.com/article/3000087232 |
| work_keys_str_mv | AT haowei backsteppingadaptivedynamicalslidingmodecontrolmethodforballandplatesystem AT zhanghongli backsteppingadaptivedynamicalslidingmodecontrolmethodforballandplatesystem |