Showing papers on "Ball and beam published in 2015"

Model-based event-triggered predictive control for networked systems with communication delays compensation

Abstract: Summary This paper addresses the model-based event-triggered predictive control problem for networked control systems (NCSs). Firstly, we propose a discrete event-triggered transmission scheme on the sensor node by introducing a quadratic event-triggering function. Then, on the basis of the aforementioned scheme, a novel class of model-based event-triggered predictive control algorithms on the controller node is designed for compensating for the communication delays actively and achieving the desired control performance while using less network resources. Two cases, that is, the value of the communication delay of the first event-triggered state is less or bigger than the sampling period, are considered separately for certain NCSs, regardless of the communication delays of the subsequent event-triggered states. The codesign problems of the controller and event-triggering parameter for the two cases are discussed by using the linear matrix inequality approach and the (switching) Lyapunov functional method. Furthermore, we extended our results to the NCSs with systems uncertainties. Finally, a practical ball and beam system is studied numerically to demonstrate the compensation effect for the communication delays with the proposed novel model-based event-triggered predictive control scheme. Copyright © 2014 John Wiley & Sons, Ltd.

Analysis and Synthesis of Memory-Based Fuzzy Sliding Mode Controllers

Abstract: This paper addresses the sliding mode control problem for a class of Takagi–Sugeno fuzzy systems with matched uncertainties. Different from the conventional memoryless sliding surface, a memory-based sliding surface is proposed which consists of not only the current state but also the delayed state. Both robust and adaptive fuzzy sliding mode controllers are designed based on the proposed memory-based sliding surface. It is shown that the sliding surface can be reached and the closed-loop control system is asymptotically stable. Furthermore, to reduce the chattering, some continuous sliding mode controllers are also presented. Finally, the ball and beam system is used to illustrate the advantages and effectiveness of the proposed approaches. It can be seen that, with the proposed control approaches, not only can the stability be guaranteed, but also its transient performance can be improved significantly.

Fuzzy PID controller design and implement in Ball-Beam system

Abstract: A fuzzy PID controller is designed for the ball and beam system in this paper An object model is established and transfer function is also obtained Fuzzy PID control sets are designed based on previous experience and knowledge reasoning The ball and beam system can be controlled in Simulink, so this fuzzy PID algorithm is executed in Simulink Compare with traditional PID, the result shows that this algorithm is correct and efficient, and the performance of fuzzy PID is better than traditional PID

Fuzzy based sliding surface for shape memory alloy wire actuated classical super-articulated control system

Abstract: Analysis of stress-strain-temperature effect of antagonistic SMA wire actuators.Improving bandwidth of operation of SMA.Underactuated robotic system.Design of fuzzy-sliding surface.Real time stabilization problem. This paper presents the experimental study on a system which is an interesting crossover between a standard benchmark control problem and a smart material. The study represents the effect of stress, strain and temperature over bandwidth of antagonistic shape memory alloy (SMA) and its relative performance in influencing the stability of the system. The experiment is implicated on an underactuated open loop unstable ball and beam system, designed and developed to be driven by SMA. A proportional derivative controller cascaded with sliding mode controller (SMC) based on simplified fuzzy adaptive sliding surface is considered to study the dynamics of the system. The designed simplified fuzzy based sliding surface controller is able to balance the ball and beam system around its equilibrium state, which as a control perspective shows that performance of this controller is better than the conventional SMC. Furthermore from smart material perspective decisive results are arrived to handle the issues like stability, speed of operation and performance of antagonistic SMA.

Optimal Sliding and Decoupled Sliding Mode Tracking Control by Multi-objective Particle Swarm Optimization and Genetic Algorithms

Abstract: The objective of this chapter is to present an optimal robust control approach based upon smart multi-objective optimization algorithms for systems with challenging dynamic equations in order to minimize the control inputs and tracking and position error. To this end, an optimal sliding and decoupled sliding mode control technique based on three multi-objective optimization algorithms, that is, multi-objective periodic CDPSO, modified NSGAII and Sigma method is presented to control two dynamic systems including biped robots and ball and beam systems. The control of biped robots is one of the most challenging topics in the field of robotics because the stability of the biped robots is usually provided laboriously regarding the heavily nonlinear dynamic equations of them. On the other hand, the ball and beam system is one of the most popular laboratory models used widely to challenge the control techniques. Sliding mode control (SMC) is a nonlinear controller with characteristics of robustness and invariance to model parametric uncertainties and nonlinearity in the dynamic equations. Hence, optimal sliding mode tracking control tuned by multi-objective optimization algorithms is utilized in this study to present a controller having exclusive qualities, such as robust performance and optimal control inputs. To design an optimal control approach, multi-objective particle swarm optimization (PSO) called multi-objective periodic CDPSO introduced by authors in their previous research and two notable smart multi-objective optimization algorithms, i.e. modified NSGAII and the Sigma method are employed to ascertain the optimal parameters of the control approach with regard to the design criteria. In comparison, genetic algorithm optimization operates based upon reproduction, crossover and mutation; however particle swarm optimization functions by means of a convergence and divergence operator, a periodic leader selection method, and an adaptive elimination technique. When the multi-objective optimization algorithms are applied to the design of the controller, there is a trade-off between the tracking error and control inputs. By means of optimal points of the Pareto front obtained from the multi-objective optimization algorithms, plenty of opportunity is provided to engineers to design the control approach. Contrasting the Pareto front obtained by multi-objective periodic CDPSO with two noteworthy multi-objective optimization algorithms i.e. modified NSGAII and Sigma method dramatizes the excellent performance of multi-objective periodic CDPSO in the design of the control method. Finally, the optimal sliding mode tracking control tuned by CDPSO is applied to the control of a biped robot walking in the lateral plane on slope and the ball and beam system. The results and analysis prove the efficiency of the control approach with regard to providing optimal control inputs and low tracking and position errors.

Optimized PID Position Control of a Nonlinear System Based on Correlating the Velocity with Position Error

Abstract: We examined a design approach for a PID controller for a nonlinear ball and beam system. Main objective of our research was to establish a nonmodel based control system, which would also not be dependent on a specific ball and beam hardware setup. The proposed PID controller setup is based on a cascaded configuration of an inner PID ball velocity control loop and an outer proportional ball position control loop. The effectiveness of the proposed controller setup was first presented in simulation environment in comparison to a hardware dependent PD cascaded controller, along with a more comprehensive study on possible design approach for optimal PID controller parameters in relation to main functionality of the controller setup. Experimental real time control results were then obtained on a laboratory setup of the ball and beam system on which PD cascaded controller could not be applied without parallel system model processing.

Using tablets in the vision-based control of a ball and beam test-bed

Abstract: Although the onboard cameras of smart devices have been used in the monitoring and teleoperation of physical systems such as robots, their use in the vision-based feedback control of such systems remains to be fully explored. In this paper, we discuss an approach to control a ball and beam test-bed using visual feedback from a smart device with its camera pointed at the test-bed. The computation of a homography between the frames of a live video and a reference image allows the smart device to accurately estimate the state of the test-bed while facing the test-bed from any perspective. Augmented reality is incorporated in the development of an interactive user interface on the smart device that allows users to command the position of the ball on the beam by tapping their fingers at the desired location on the touchscreen. Experiments using a tablet are performed to characterize the noise of vision-based measurements and to illustrate the performance of the closed-loop control system.

Real-time object tracking based on colour feature and perspective projection

Abstract: This paper proposes a fast and robust real-time object tracking technique in a ball and beam system following the concept of rotating frame (to be called as rotating ball and beam system). The technique uses a standard contact free video camera which is placed at a static position and allows the sensor to capture the entire dynamic motion of the system. Since the captured image is in the world coordinates, instead of the rotating beam coordinates, the position of the object is easily extracted using either of the two projective transform methods such as Hue, Saturation and Value (HSV) or Hue, Saturation (HS). Experimental results on a prototype ball and beam system demonstrate that performance of HS based object localization, which ignores the light intensity, is better compared with HSV based method.

Output to input saturation transformation: Demonstration and application to disturbed linear systems

Abstract: In the case of linear systems, control law design is often performed so that the resulting closed-loop meets specific frequency requirements. However, in many cases, it may be observed that the obtained controller does not enforce time-domain requirements amongst which the objective of keeping an output variable in a given interval. In this article, a transformation is proposed to convert expected bounds on an output variable into time-varying saturations on the synthesized linear control law. It is demonstrated that the resulting closed-loop is stable and satisfies time-domain constraints in the presence of unknown bounded disturbance. An application to a linear ball and beam model is presented.

Nonlinear robust observers for ball and beam system: A comparative analysis

Abstract: Nonlinear robust observers for the ball and beam system are presented in this paper. Ball and beam control system is a class of nonlinear system which is used to balance a ball on a particular position on the beam. In the designing, Lyapunov theory is used for the stability analysis of the overall system and all the error signals are uniformly bounded. Proposed observers comprise of reduced order and full order robust observers. The presented methodology is easy in implementation. The simulation results demonstrate the important features and satisfactory tracking performance of the proposed observer design approach. Comparison between reduced and full order robust observers is also depicted in this paper.

Development of Microcontroller-Based Ball and Beam Trainer Kit

Abstract: A ball and beam trainer kit based on microcontroller was developed for teaching control system course for the sophomore students. This specially-purposed kit consists of a ball located on a beam with a fixed axle at one of its end. At the other end, a servomotor was employed to control the position of the ball by adjusting the rotation angle of the servomotor. Seven predetermined positions were set to 10, 20, 30, 40, 50, 60, and 70 cm relative to the fixed axle of the beam. The Proportional-Integral-Derivative (PID) scheme was then used to compensate the error. This kit is equipped with a user interface to configure controller coefficients, select the set points, plot the actual ball position, and display parameter values. The user interface program runs on PC or notebook connected to microcontroller via serial communications. A questionnaire-based assessment about the use of this kit was conducted by 17 students taking the course, giving a rating value of 94.12%.

Global stabilization for ball-and-beam systems via state and partial state feedback

Abstract: In this paper, we present new state and partial state feedback laws as global stabilizers of the well-known frictionless ball and beam system. Dealing with nonlinear terms in the manner different from the ones in the literature, we have achieved a new, simple state-dependent saturation control law. The key technique is to assign a suitable state-dependent saturation level function and jointly use the computation techniques of linear gains. Then, combining such a state feedback law with a homogeneous observer, we again obtain a new partial state feedback design.

Fuzzy PID Control for Ball and Beam Mechanism

Abstract: A ball beam mechanism is found to be highly unstable system. PID control has been mostly used for stabilizing the same. However, tuning of PID controller gains is a difficult issue. In this work, attempt has been made to develop a fuzzy model-based ball and beam mechanism. Initially, an analytical model of the system is presented in the nonlinear state space form. The feasibility of the proposed scheme for ball and beam system is demonstrated using MATLAB/SIMULINK. Computer simulations are exploited to demonstrate the validity and feasibility of the developed control schemes.

An active disturbance rejection controller design for ball and plate system

Abstract: Ball and plate system is a multivariable system with inherent nonlinearity It is a two-dimensional extension of the classic ball and beam system In this paper, the idea of Active Disturbance Rejection Control (ADRC) is introduced The extended state observer (ESO) is applied to estimate the disturbance including nonlinearity and the friction Then, the disturbance estimated can be eliminated from the control For the sake of reducing the impact of the measurement noise, the Fal function filter is applied to filter the output of the system with measurement noise Meanwhile, the feedforward compensator is designed to reduce the error of the system In the end, the simulations of the set-point experiments and the circle trajectory tracking experiments are completed The simulation results show that the ADRC controller combined with a feedforward compensator performances better

Implementation of CDM Based PID Controller for a Stable and Double Integrating Process

Abstract: In this paper an attempt has been made to design a PID controller for a double integrating process and shell and tube heat exchanger process based on coefficient diagram method (CDM). Ball and beam system (Linear process) and the heat exchanger systems (Non-linear process) are widely used as a bench mark control setup for evaluating various control strategies. Many PID controller designs are developed for stable system, however it is very less common for double integrating unstable system. Co-efficient diagram method (CDM) is one of the recently developed controller design methodology based on algebraic approach. With CDM, it is easy to realize a controller under the conditions of stability, robustness and time domain performance

Approximate Linearization of a Class of Underactuated System and its Application in the Ball and Beam System

Abstract: In this paper, we consider the dynamical model of a class of underactuated systems. By combination of the partial fedback linearization and Yamada’s global linearization, we deduced a global approximate linearization method for underactuated systems. By using this method, the dynamical equations can be transformed into an state eqution that is expressed as a pseudolinear term with Brunovsky canonical form plus a high order nonlinear term, where the nonlinear term is high order on the equilibrium manifold of the system. By standard nonlinear feedback method, the system is transformed into the sum of a stable linear term and a high order nonlinear term. Take proper feedforward value as the input to reduce the influence of the nonlinear term to the system and thus the underactuated system can be regulated. This method is applied to the ball and beam system and simulation results show that the proposed approximate linearization method is effective for setpoint control.

Quantitative feedback theory based control of ball and beam system with parametric uncertainty

Abstract: This paper presents quantitative feedback theory (QFT) based control and tracking of ball and beam system. QFT is a frequency domain approach using Nichols chart. This technique achieves desired robust design over a specified range of plant uncertainty. QFT is used for the design of robust controllers for the plant with uncertainties in the parameters, input/output disturbances and noises. Ball and beam system with parametric uncertainty is defined in state space form using QFT control toolbox and templates are generated. Then, based upon the performance and tracking specifications, bounds are determined. After determining the bounds, controller and prefilter are designed which fulfill the necessary control and tracking requirements. Additionally, a first order sliding mode controller (SMC) is intended for the comparison purpose.

Camera as Position Sensor for a Ball and Beam Control System

Abstract: This paper describes a novel strategy to use a digital camera as a position sensor to control a ball and beam system A linear control law is used to position the ball at the desired location on the beam The experiments show how this method controls the positioning of the ball in any location on the beam using a camera with a sampling rate of 30 frames per second (fps), and these results are compared with those using an analog resistive sensor with a feedback signal sampled at rate 1000 samples per second The mechanical characteristics of this ball and beam system are used to simplify the calculation of the ball position using our vision system, and in order to easy camera calibration with respect to the ball and beam system Our proposal use circularity feature of blobs in a binary image, instead of the classic correlation or Hough transform techniques for ball’s tracking The main control system is implemented in Simulink with Real Time Workshop (RTW) and the vision processing with OpenCV libraries

Optimized PID Position Control of a Nonlinear System Based on Correlating the Velocity with Position Error

Abstract: We examined a design approach for a PID controller for a nonlinear ball and beam system Main objective of our research was to establish a nonmodel based control system, which would also not be dependent on a specific ball and beam hardware setup The proposed PID controller setup is based on a cascaded configuration of an inner PID ball velocity control loop and an outer proportional ball position control loop The effectiveness of the proposed controller setup was first presented in simulation environment in comparison to a hardware dependent PD cascaded controller, along with a more comprehensive study on possible design approach for optimal PID controller parameters in relation to main functionality of the controller setup Experimental real time control results were then obtained on a laboratory setup of the ball and beam system on which PD cascaded controller could not be applied without parallel system model processing

H-infinity PID controller for a Ball and Beam System

Abstract: Ball and beam system is a benchmark system to study various control algorithms. It consists of a beam that can be tilted by a DC servo motor and a ball rolling back and forth on the top of the beam. The main reason for its acceptance in labs across the globe is its property that it is open loop unstable. It can serve as a conventional tool for implementation of many classical and modern control system design method. In the paper, the theory of H-infinity control is used to design a control system for the ball and beam system. The theory of Robust control is extended to design a robust PID controller. Controller parameter values for PID controller i.e. gains are found from the robust controller designed.

System identification and position control of pneumatic actuator using embedded system

Abstract: This project report presents the ability of using embedded system to control non-linear systems like pneumatic actuators. The pneumatic actuators are commonly used in industrial applications because they have many practical advantages such as high power to weight ratio and cheap compared to other actuators. Embedded system STM32F4DISCOVERY was used in this project to interface the pneumatic actuator with MATLAB® Simulink instead of using the conventional Data Acquisition card (DAQ) to reduce the cost and size. The embedded system was also used as a controller to execute the control algorithms. The model of the pneumatic actuator was identified by using system identification technique. Based on this model, the Proportional-Integral-Derivative (PID) and the Proportional-Derivative Fuzzy Logic (PD-Fuzzy) controllers were designed to control the position of the pneumatic actuator. Waijung Blockset in MATLAB® Simulink was used to estimate the model of the pneumatic actuator and implement these controllers inside the embedded system STM32F4DISCOVERY. A Pneumatic Actuated Ball and Beam System (PABBS) is an application of controlling the position of the pneumatic actuator. The developed model of PABBS was used to design three controllers for this plant based on the controllers of the pneumatic actuator. The Cascade PID, the PD-Fuzzy with Gain Feedback and the PD-Fuzzy with PID controllers were designed to control the ball at the desired position. For the position control of the pneumatic actuators, the simulation and experimental results of the PID and PD-Fuzzy controllers were presented. The PD-Fuzzy offers better control compared to other controllers in terms of stability and robustness for the pneumatic actuator. On the other hand, PD-Fuzzy with PID controllers gave the best control response in the simulation compared to the others controllers for the PABBS application.