Trajectory planning and tracking of ball and plate system using hierarchical fuzzy control scheme

Fan, Xuemei; Zhang, Naiyao; Teng, Shujie

doi:10.1016/s0165-0114(03)00135-0

Cited by 102 publications

(39 citation statements)

References 8 publications

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“…As an illustrative system model, the nonlinear dynamics of the ball-and-beam system, represented by the nonlinear fourth order state-space model, was adopted from [7] in the formq…”

Section: Illustrative Examplementioning

confidence: 99%

LMI based fuzzy observer design for Takagi-Sugeno models containing vestigial nonlinear terms

Krokavec

Filasová

2014

Archives of Control Sciences

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LMI based fuzzy observer design for Takagi-Sugeno models containing vestigial nonlinear terms DUŠAN KROKAVEC and ANNA FILASOVÁ The paper deals with the problem of full order fuzzy observer design for the class of continuous-time nonlinear systems, represented by Takagi-Sugeno models containing vestigial nonlinear terms. On the basis of the Lyapunov stability criterion and the incremental quadratic inequalities, two design conditions for this kind of system model are outlined in the terms of linear matrix inequalities. A numerical example is given to illustrate the procedure and to validate the performances of the proposed approach.Key words: Takagi-Sugeno models, fuzzy observer, linear matrix inequality, incremental quadratic inequality IntroductionAs is well known, observer design is a hot research field owing to its particular importance in the state-space control. The nonlinear system theory principles, using Lipschitz conditions, has emerged as a method capable of use in state estimation for nonlinear systems, although Lipschitz condition is a strong restrictive condition which many classes of systems may not satisfy. Design method for asymptotic observer for nonlinear systems with globally Lipschitz nonlinearities is presented, e.g., in [1], [4], [13], [22], the problem of designing asymptotic observers for the system whose nonlinear time-varying terms satisfy an incremental quadratic inequality, is given in [2], [3].An alternative to design an observer for nonlinear systems is fuzzy modeling approach, which benefits from the advantages of the approximation techniques approximating nonlinear system model equations [20]. Stability conditions, relying on the feasibility of an associated system of linear matrix inequalities (LMI) and Takagi-Sugeno (TS) fuzzy model based nonlinear state observers, were educed, e.g., in [11], [17], [19].

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“…As an illustrative system model, the nonlinear dynamics of the ball-and-beam system, represented by the nonlinear fourth order state-space model, was adopted from [7] in the formq…”

Section: Illustrative Examplementioning

confidence: 99%

LMI based fuzzy observer design for Takagi-Sugeno models containing vestigial nonlinear terms

Krokavec

Filasová

2014

Archives of Control Sciences

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“…The papers [13], [14] present the predictive control of the Ball and Plate system using Internet-based control. The various methods of the Ball and Plate system control such as fuzzy or sliding mode control, which are used for the reference trajectory tracking goal, are presented in [15], [16].…”

Section: Introductionmentioning

confidence: 99%

“…In general, the model application called Intelligent Positioning Plate (shortly IPP) is very similar to the Ball and Plate system presented in [15], [16]. The IPP model application belongs to fund of the laboratory models of the Department of Cybernetics and Artificial Intelligence (DCAI), FEEI, TU and it is situated in the Laboratory of Modern Control Techniques of Physical Systems (http://kyb.fei.tuke.sk/laben/modely/gnk.php).…”

Section: Introductionmentioning

confidence: 99%

Intelligent Positioning Plate Predictive Control and Concept of Diagnosis System Design

Oravec

Jadlovská

2017

MIE

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Keywords Abstractpredictive control design, ARX model of the system, mechatronic system, diagnosis system This paper presents design of the predictive control algorithms, which are verified using the simulation and laboratory model of the Intelligent Positionig Plate. The results of the predictive control algorithm verification are presented also in this article. The created tool called the IPPtools is based on the designed predictive control algorithms and it is shortly presented. A part of the paper is dedicated to the concept of the diagnosis system, which is designed and implemented into the 5-level Distributed Control System of the Department of the Cybernetics and Artificial Intelligence. Possibility how to modify the predictive control algorithms using diagnosis system is also stated in the last section of this paper. ArticleHistory

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“…The ball and beam system has both nonlinear and unstable characteristics. Hence, several approaches, such as input-output feedback linearization [5], robust nonlinear control [6] and fuzzy logic control [7], have been developed to control the ball and beam system. However, these schemes are based on the same conventional ball-on-beam plant, in which the ball rolls along the beam in response to beam angle changes.…”

Section: Introductionmentioning

confidence: 99%

Vibration suppression controller for a novel beam-cart-seesaw system

Lin

Huang

Chang

et al. 2010

Proceedings of the 2010 American Control Conference

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In contrast with fully controllable systems, a super articulated mechanical system (SAMS) is a controlled underactuated mechanical system in which the dimensions of the configuration space exceed the dimensions of the control input space. The objectives of the research are to develop a novel SAMS model which is called beam-cart-seesaw system, and renovate a novel approach for achieving a high performance active-passive piezoelectric vibration absorber for such system. The system consists of two mobile carts, which are coupled via rack and pinion mechanics to two parallel tracks mounted on pneumatic rodless cylinders. One cart carries an elastic beam, and the other cart acts as a counterbalance. One adjustable counterweight mass is also installed underneath the seesaw to serve as a passive damping mechanism to absorb impact and shock energy. Grey relational grade is utilized to investigate the sensitivity of tuning the active PID controller to achieve desired vibration suppression performance. Consequently, it is shown that the active-passive vibration absorber not only can provide passive damping, but can also enhance the active action authority.

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Trajectory planning and tracking of ball and plate system using hierarchical fuzzy control scheme

Cited by 102 publications

References 8 publications

LMI based fuzzy observer design for Takagi-Sugeno models containing vestigial nonlinear terms

LMI based fuzzy observer design for Takagi-Sugeno models containing vestigial nonlinear terms

Intelligent Positioning Plate Predictive Control and Concept of Diagnosis System Design

Vibration suppression controller for a novel beam-cart-seesaw system

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