Discrete-time robust controller and observer for a ball and beam system
Sign Up to like & getrecommendations! Published in 2018 at "Artificial Life and Robotics"
DOI: 10.1007/s10015-018-0506-2
Abstract: This paper deals with a digital controller and observer design problem for the ball and beam system which is extended version of the previous investigated result. The controller is an extension of robust integral tracking… read more here.
Keywords: ball beam; system; controller; controller observer ... See more keywords
A Linear Parameter Varying Strategy Based Integral Sliding Mode Control Protocol Development and Its Implementation on Ball and Beam Balancer
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DOI: 10.1109/access.2021.3081521
Abstract: An Integral Sliding Mode (ISM) based robustified Linear Parameter Varying (LPV) control is presented for a laboratory scale ball on a beam balancer system. The inherent input channel nonlinearity and under-actuated coupled dynamics make it… read more here.
Keywords: linear parameter; sliding mode; control; integral sliding ... See more keywords
Variable Cut-Off Frequency Observer-Based Positioning for Ball-Beam Systems Without Velocity and Current Feedback Considering Actuator Dynamics
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Transactions on Circuits and Systems I: Regular Papers"
DOI: 10.1109/tcsi.2020.3032128
Abstract: This paper develops an observer-based positioning scheme for ball-beam systems considering actuator dynamics. The practical constraints are handled systematically, including the mechanical dynamical nonlinearities, mismatched load disturbances, and parameter uncertainties. This result provides contributions as… read more here.
Keywords: velocity; ball beam; observer based; based positioning ... See more keywords
Visual Feedback Balance Control of a Robot Manipulator and Ball-Beam System
Sign Up to like & getrecommendations! Published in 2017 at "Journal of Computational Chemistry"
DOI: 10.4236/jcc.2017.59002
Abstract: In this paper, we present a vision guided robotic ball-beam balancing control system, consisting of a robot manipulator (actuator), a ball-beam system (plant) and a machine vision system (feedback). The machine vision system feedbacks real-time… read more here.
Keywords: ball beam; system; control; robot manipulator ... See more keywords