scholarly journals Robust Position Control of a Levitating Ball via a Backstepping Controller

2021 ◽  
Author(s):  
Fatih Adıgüzel ◽  
◽  
Türker Türker ◽  
◽  
Keyword(s):  
Position Control ◽  
Backstepping Controller

scholarly journals Design and Comparative Study of Advanced Adaptive Control Schemes for Position Control of Electronic Throttle Valve

Information ◽  
2019 ◽  
Vol 10 (2) ◽  
pp. 65 ◽  
Author(s):  
Amjad Humaidi ◽  
Akram Hameed
Keyword(s):  
Adaptive Control ◽  
Position Control ◽  
Sliding Mode ◽  
Angular Position ◽  
Estimation Errors ◽  
Electronic Throttle ◽  
Control Schemes ◽  
Backstepping Controller ◽  
Matlab Package ◽  
The Stability

This paper investigates the performance of two different adaptive control schemes for controlling the angular position of an electronic throttle (ET) plate. The adaptive backstepping controller and adaptive sliding mode backstepping controller are the controllers under consideration. The control design based on these adaptive controllers is firstly addressed and the stability analysis of each controller has been presented and the convergence of both position and estimation errors for both controllers have been proved. A comparison study of the performance of both controllers has been conducted in terms of system transient characteristics and the behavior of their associated adaptive gain. The simulation has been implemented within the environment of the MATLAB package.

Delay compensation position tracking control of electro-hydraulic servo systems based on a delay observer

2019 ◽  
Vol 234 (5) ◽  
pp. 622-633
Author(s):  
Xingya Ding ◽  
Gang Shen ◽  
Xiang Li ◽  
Yu Tang
Keyword(s):  
Position Control ◽  
Signal Transmission ◽  
Experimental Results ◽  
Shaking Table ◽  
Feedback Signal ◽  
Delay Compensation ◽  
Servo Systems ◽  
Hybrid Controller ◽  
Hydraulic Servo ◽  
Backstepping Controller

In this article, the position control problem of electro-hydraulic servo systems with feedback signal transmission delay is studied. In order to improve the control accuracy of the system, a hybrid controller which combines a delay observer, a nonlinear disturbance observer and a backstepping controller is proposed. The controller has the characteristics of compensating the delay of signal transmission, restraining the uncertain disturbance of control systems and high control precision. In order to verify the stability and validity of the proposed hybrid controller, a single-degree-of-freedom electro-hydraulic shaking table is used to verify the experimental results. The experimental results show that the proposed controller has better control effects than proportional integral derivative and backstepping controller.

scholarly journals Robust Position Control of a Levitating Ball via a Backstepping Controller

2021 ◽  
Vol 22 (1) ◽  
pp. 61-69
Author(s):  
Fatih Adıgüzel ◽  
◽  
Türker Türker ◽  
◽  
Keyword(s):  
Position Control ◽  
Backstepping Controller

scholarly journals Adaptive backstepping control design for ball and beam system

2021 ◽  
Author(s):  
Ayad Q. Al-Dujaili ◽  
Amjad J. Humaidi ◽  
Daniel Augusto Pereira ◽  
Ibraheem Kasim Ibraheem
Keyword(s):  
Position Control ◽  
Dynamic Control ◽  
Nonlinear Controller ◽  
Adaptive Backstepping ◽  
Beam System ◽  
Adaptive Laws ◽  
Backstepping Controller ◽  
The Stability ◽  
Laboratory Models ◽  
Ball And Beam System

AbstractBall and Beam system is one of the most popular and important laboratory models for teaching control systems. This paper proposes a new control strategy to the position control for the ball and beam system. Firstly, a nonlinear controller is proposed based on the backstepping approach. Secondly, in order to adapt online the dynamic control law, adaptive laws are developed to estimate the uncertain parameters. The stability of the proposed adaptive backstepping controller is proved based on the Lyapunov theorem. Simulated results are presented to illustrate the performance of the proposed approach.

scholarly journals Nonlinear Backstepping Control Design using a High Gain Observer for Automatic Gauge Control

2019 ◽  
Vol 8 (11) ◽  
pp. 2553-2561 ◽  
Keyword(s):  
Position Control ◽  
Steel Strip ◽  
High Gain ◽  
Cold Rolling Mill ◽  
High Gain Observer ◽  
Automatic Gauge Control ◽  
Backstepping Controller ◽  
Nonlinear Backstepping Control ◽  
Work Rolls

The accuracy and quality of the steel strip exit thickness depends on the structure of the automatic gauge control system (HAGCS) of reversible cold rolling mill. This structure is based on the position control of the work rolls. The design and implementation of a new HAGCS by the backstepping approach with high gain observer are discussed in this paper. Backstepping controller of HAGCS and high gain observer (HGO) has been implemented using MATLAB/SIMULINK software. The simulation results show the effectiveness of the proposed control for improving the quality of the output strip

scholarly journals A Control Strategy with Tactile Perception Feedback for EMG Prosthetic Hand

2015 ◽  
Vol 2015 ◽  
pp. 1-15 ◽  
Author(s):  
Changcheng Wu ◽  
Aiguo Song ◽  
Yun Ling ◽  
Nan Wang ◽  
Lei Tian
Keyword(s):  
Control Strategy ◽  
Position Control ◽  
Prosthetic Hand ◽  
Motion Recognition ◽  
Control Effectiveness ◽  
Hand Control ◽  
Force Tracking ◽  
Backstepping Controller ◽  
Grasp Force ◽  
Self Learning

To improve the control effectiveness and make the prosthetic hand not only controllable but also perceivable, an EMG prosthetic hand control strategy was proposed in this paper. The control strategy consists of EMG self-learning motion recognition, backstepping controller with stiffness fuzzy observation, and force tactile representation. EMG self-learning motion recognition is used to reduce the influence on EMG signals caused by the uncertainty of the contacting position of the EMG sensors. Backstepping controller with stiffness fuzzy observation is used to realize the position control and grasp force control. Velocity proportional control in free space and grasp force tracking control in restricted space can be realized by the same controller. The force tactile representation helps the user perceive the states of the prosthetic hand. Several experiments were implemented to verify the effect of the proposed control strategy. The results indicate that the proposed strategy has effectiveness. During the experiments, the comments of the participants show that the proposed strategy is a better choice for amputees because of the improved controllability and perceptibility.

scholarly journals Backstepping Controller for Electrically Driven Flexible Joint Manipulator Under Uncertainties

2015 ◽  
Vol 4 (2) ◽  
pp. 156
Author(s):  
Lilia Zouari ◽  
Hafedh Abid ◽  
Mohamed Abid
Keyword(s):  
Position Control ◽  
Current Control ◽  
Tracking Accuracy ◽  
Parameter Uncertainties ◽  
Flexible Joint ◽  
Brushless Dc ◽  
Hysteresis Controller ◽  
Bounded Disturbances ◽  
Backstepping Controller ◽  
Flexible Joint Manipulator

The grown complexity of the robot manipulators dynamics taking into account the jointflexibility, parameter uncertainties and unknown bounded disturbances makes conventionalcontrol strategies difficult and complex to synthesize. This paper focuses on the investiga-tion into backstepping control of flexible joint manipulator driving by Brushless DC Motor(BDCM) in the presence of parameter uncertainties and unknown bounded disturbances fortracking trajectory. The goal of this paper is to compensate all uncertainties and distur-bances for flexible joint manipulator. To study the effectiveness of the controllers, backstep-ping controller has been developed for position control and an hysteresis controller has beentreated for current control. Simulation results of the response of the flexible joint manipu-lators associated with their controllers have been presented. The high performances of thebackstepping control are examined in terms of tracking accuracy and error reduction.

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