Showing papers on "Ball and beam published in 2006"
TL;DR: In this paper, a phenomenological model is used for nonlinear black box identification, where a model is replacing a precise mathematical description, and simulations are provided for two examples: the classic ball and beam system and a large scale linear system.
47 citations
TL;DR: A non-linear switching control scheme is put forward to deal with the trajectory-tracking problem after the non- linear control analysis of ball and plate system and experimental results have shown that the proposed scheme can accomplish the task of trajectory- tracking effectively.
Abstract: The ball and plate system is a typical multi-variable non-linear plant. By extension of the traditional ball and beam system, it is used as a standard benchmark to inspect diverse control schemes. In this paper, a problem with trajectory-tracking of ball and plate systems is studied based on non-linear control theory. Firstly, we briefly summarise control problems of ball and plate systems and introduce a ball and plate system named BPVS-JLU developed in authors' laboratory. Then the system's mathematical model is derived using the Lagrange method. Lastly, a non-linear switching control scheme is put forward to deal with the trajectory-tracking problem after the non-linear control analysis of ball and plate system. Experimental results have shown that the proposed scheme can accomplish the task of trajectory-tracking effectively.
26 citations
01 Dec 2006
TL;DR: The problem of constructing globally convergent, reduced-order observers for nonlinear systems is addressed by allowing for a wider class of nonlinearities to appear in the system equations.
Abstract: The problem of constructing globally convergent, reduced-order observers for nonlinear systems is addressed. Current results on nonlinear observer design require that the nonlinearities appearing in the system equations are either linear functions of the unmeasured states or monotonic functions of a linear combination of the states. In this paper we relax these two assumptions by allowing for a wider class of nonlinearities to appear in the system equations. The proposed approach is demonstrated on a simple example and on the well-known "ball and beam" mechanical system.
17 citations
03 Jul 2006
TL;DR: In this article, the authors proposed a model based adaptive control algorithm to control the ball and beam system with unknown parameters, which is based on an error metric which combines the trajectory tracking of the balls and the stabilization of the beam.
Abstract: The paper proposes a model based adaptive control algorithm to control the ball and beam system with unknown parameters The algorithm is based on an error metric which combines the trajectory tracking of the ball and the stabilization of the beam The proposed adaptive control algorithm is improved in such a way to avoid the singularity problem which can arise in nonlinear adaptive control systems Using the Barbalat lemma, it can be shown that the tracking error of the ball motion on the beam converges to a small residual set even in the presence of parameter uncertainty Experimental results are provided to show the performances of the proposed control scheme
15 citations
Journal Article•
TL;DR: T-S fuzzy control scheme is introduced firstly for the stabilization problem at the designed point for the ball and plate system, and the simulation result shows that the performance is improved, especially near the stabilizaion point.
Abstract: Ball and plate system is a typical multi-variable plant,which is the extension of the traditional ball and beam problems.It is put forward to inspect diverse control schemes.T-S fuzzy control scheme is introduced firstly for the stabilization problem at the designed point for the ball and plate system.The simulation result is fine,but the experiment result of the real system shows that the disadvantages are evident,such as oscillation,overshooting.To solve the above mentioned problems,adaptive fuzzy control scheme based on variable universe is introduced ground on T-S fuzzy control scheme.The simulation result shows that the performance is improved,especially near the stabilizaion point,which embodys the nice characters of the adaptive fuzzy control scheme based on variable universe,such as high accuracy,no oscillation and no overshoot.
4 citations
Journal Article•
TL;DR: The network embedded control lab, neclab, is introduced and explained using a simple ball and beam control application which focuses on wnecs which use the MICA2 Motes.
Abstract: The network embedded control lab, neclab, is a software environment designed to allow easy deployment of networked embedded control systems, in particular wireless networked embedded control systems (wnecs). A wnecs is a collection of interconnected plant sensors, digital controllers, and plant actuators which communicate with each other over wireless channels. In this paper neclab is introduced and explained using a simple ball and beam control application. We focus on wnecs which use the MICA2 Motes.
4 citations
Journal Article•
TL;DR: In this article, the authors present three balancing mechanisms, which have been used as experimental systems in the control education of mechanical engineering students, which are the inverted pendulum, the inverted wedge and the ball and beam.
Abstract: The paper presents three balancing mechanisms, which have been utilized as experimental systems in the control education of mechanical engineering students. Their uniqueness is the pneumatic drive, which makes them more affordable, simpler and more interesting to control. These balancing mechanisms are the inverted pendulum, the inverted wedge and the ball and beam, while the pneumatic infrastructure includes variety of valves. The paper describes these experimental systems and some methods applied to control them.
3 citations
15 Dec 2006-Jsme International Journal Series C-mechanical Systems Machine Elements and Manufacturing
TL;DR: In this article, a backstepping control implementation on magnetic suspension actuators is presented to demonstrate a ball and beam system performance, where the magnetic force as a function of position and coil current is measured and modeled by a quadratic function.
Abstract: This paper presents a backstepping control implementation on magnetic suspension actuators to demonstrate a ball and beam system performance. A magnetic suspension actuator is located on side of the beam for up and down operation to control the ball position. Characteristics on the magnetic suspension actuator are studied from the design concept to construct a ball and beam system. The mathematical model of the system was derived via the Lagrangian function. The magnetic force as a function of position and coil current was measured and modeled by a quadratic function. A control law was developed following backstepping control procedures. To implement this ball and beam system, a linear feedback sensor and control circuit is designed and fabricated using a single chip microprocessor with basic electronic circuits as the control kernel. The ball and beam system is tested on both static and dynamic performance, especially in oscillatory stabilization and sinusoidal tracking.
2 citations
Journal Article•
TL;DR: A method in which the weights and the architecture of the neuro-controller were optimized by the genetic algorithm were used to the control of a ball and beam system and a continuous-stirred tank reactor system, and simulation results indicate that the Neuro-controller is of simple structure, high generalization ability and good control effect.
Abstract: A method for a kind of neuro-controller design was proposed,in which the weights and the architecture of the neuro-controller were optimized by the genetic algorithm.The method was used to the control of a ball and beam system and a continuous-stirred tank reactor system respectively.The simulation results indicate that the neuro-controller is of simple structure,high generalization ability and good control effect.
2 citations
01 Jan 2006
TL;DR: The proposed server is an extension of the constant bandwidth server, which is based on the earliest-deadline-first scheduling algorithm, and has been implemented in a real-time kernel and has also been validated in control experiments on a ball and beam process.
Abstract: The paper presents the control server, a real-time scheduling mechanism tailored to control and signal processing applications. A control server creates the abstraction of a control task with a specified period and a fixed input-output latency shorter than the period. Individual tasks can be combined into more complex components without loss of their individual guaranteed fixed-latency properties. I/O occurs at fixed predefined points in time, at which inputs are read or controller outputs become visible. The control server model is especially suited for codesign of real-time control systems. The single parameter linking the scheduling design and the controller design is the task utilization factor. The proposed server is an extension of the constant bandwidth server, which is based on the earliest-deadline-first scheduling algorithm. The server has been implemented in a real-time kernel and has also been validated in control experiments on a ball and beam process. (Less)
2 citations
01 Dec 2006
TL;DR: A sufficient condition for successfully maneuvering through an uncontrollable, singular submanifold is derived providing a basis for reference trajectory design and reveals the deficiency of existing control solutions to properly handle an input singularity that is also uncontrollable.
Abstract: The problem of tracking through singular sub-manifolds is extended to include regions of uncontrollability. A special, pragmatic class of nonlinear systems with uncontrollable, singular points is analyzed. The unique behavior of these systems is compared to systems with controllable, input singularities such as the well-known ball and beam system that has enjoyed considerable attention throughout the literature. Analysis reveals the deficiency of existing control solutions to properly handle an input singularity that is also uncontrollable. A sufficient condition for successfully maneuvering through an uncontrollable, singular submanifold is derived providing a basis for reference trajectory design. An illustrative example of practical applicability is presented for a disk drive, commutational ramp load actuator.
28 Jun 2006
TL;DR: In this paper, a modification of a predictive adaptive controller that renders it robust with respect to the occurrence of outliers in the plant measured output is presented to solve this problem, such as to render it more insensitive to large prediction error values.
Abstract: This paper presents a modification of a predictive adaptive controller that renders it robust with respect to the occurrence of outliers in the plant measured output. Outliers are large deviations of the signal being measured that are not explained by a Gaussian distribution. Making a Gaussian assumption on the statistics of the observation noise results in the use of a quadratic loss for designing either estimators or controllers. In turn of a quadratic loss yields major amplification of large signal deviations causing poor parameter estimates and, consequently, controller gain detuning and loss of performance. The algorithm presented to solve this problem relies on a modification of the cost being minimized, such as to render it more insensitive to large prediction error values. Simulations on the position control in a ball and beam plant are presented to illustrate the advantages of the controller proposed.
DOI•
12 Jan 2006
TL;DR: This document present a stability analisis of nonlinear control systems using phase plane, where fuzzy control, neural networks, neurofuzzy control, and Inteligets control systems are analized over ball and beam system.
Abstract: This document present a stability analisis of nonlinear control systems using phase plane. Many intelligent control schemes are applied and reached stability is analized according to phase plane. Control techniques used are fuzzy control, neural networks, neurofuzzy control. Inteligets control systems are analized over ball and beam system..
16 Oct 2006
TL;DR: In this paper, the control of non-regular or singular nonlinear systems applying non-linear predictive controllers is presented, where feedback linearization is not applicable due to singularities in the input-output linearizing control law.
Abstract: This paper presents the control of non-regular or singular nonlinear systems applying non-linear predictive controllers. The systems treated here have the relative degree not well defined thus feedback linearization is not applicable due to singularities in the input-output linearizing control law. An alternative controller capable of dealing with non-regular systems is the NCGPC (Nonlinear Continuous Time Generalized Predictive Control). The NCGPC is successfully applied to the standard "ball and beam" non-linear nonregular process.
01 Jan 2006
TL;DR: In this article, the control of non-regular or singular nonlinear systems applying non-linear predictive controllers is presented, where feedback linearization is not applicable due to singularities in the input-output linearizing control law.
Abstract: This paper presents the control of non-regular or singular nonlinear systems applying non-linear predictive controllers. The systems treated here have the relative degree not well defined thus feedback linearization is not applicable due to singularities in the input-output linearizing control law. An alternative controller capable of dealing with non-regular systems is the NCGPC (Nonlinear Continuous Time Generalized Predictive Control). The NCGPC is successfully applied to the standard "ball and beam" non-linear non-regular process.