Robust Backstepping Control of Ball and Beam System With External Disturbance Estimator
Robust Backstepping Control of Ball and Beam System With External Disturbance Estimator
l 2
Aditi Srivastava and Bhanu Pratap
IElectrical Engineering Department, National Institute of Technology Kurukshetra, Kurukshetra, India
2Member IEEE, Electrical Engineering Department, National Institute of Technology Kurukshetra, Kurukshetra, India
E-mail: [email protected]@gmail.com
Abstract-This paper presents a robust feedback Due to the nonlinear dynamics of the ball beam
controller for ball and beam system (BBS). The BBS is a system, various control techniques are studied and
nonlinear system in which a ball has to be balanced on a designed in the literature [1]-[7]. An adaptive dynamic
particular beam position. The proposed nonlinear controller
designed for the BBS is based upon Backstepping control
surface controller for BBS on the basis of Takagi-Sugeno
technique which guarantees the boundedness of tracking
(T-S) fuzzy logic is illustrated in [1]. Fuzzy based
error. To tackle the unknown disturbances, an external
feedback linearization controller is applied for the tracking
disturbance estimator (EDE) has been employed. The
and disturbance decoupling problem of AMIRA's BBS
stability analysis of the overall c10sed loop robust control [2]. A fuzzy based sliding mode control is designed for the
system has been worked out in the sense of Lyapunov theory. BBS in [3]. Also ant colony optimization has been used to
Finally, the simulation studies have been done to optimize the parameters of the controller. A robust and
demonstrate the suitability of proposed scheme. adaptive dynamic surface control for BBS with uncertain
Keywords-Backstepping Control; Ball and Beam System; disturbances is demonstrated in [4]. Here, the uncertainties
External Disturbance Estimator; Nonlinear System
of the system are approximated by interval type-2 fuzzy
I. INTRODUCTION neural networks. A nonlinear robust control of BBS is
implemented using state dependent Riccati equation
Ball and beam system is one of the most familiar (SDRE). SDRE is the extended form of linear quadratic
laboratory setup used for control experiments. It consists regulator which improves the robustness of the overall
of a long beam and a ball which is rolling back and forth system [5]. A modified ant colony optimization for fuzzy
on the top of the beam according to the changing angle of controller of BBS is applied to optimize the fuzzy rules,
the beam. The main function of this system is that the ball type of membership functions and parameters of
remains in contact with the beam and the rolling occur membership functions [6]. A virtual and remote laboratory
without slipping, which imposes the constraints on the for BBS is established using a leaming management
rotational acceleration of the beam. The mechanism of system, Moodle and Easy JAVA simulation (EJS) for the
BBS is under actuated. There are two degree of freedoms training of advanced techniques like robust, fuzzy and
reset control [7].
which are angle of beam which is actuated by servo motor The extemal disturbance estimator is implemented to
and the ball rolling on the beam which is not actuated. The estimate the unknown disturbances generated extemally
schematic diagram of BBS is depicted in Fig. 1[1]. which can be time varying. A generalized form of
disturbance estimator is reported to estimate the higher
order disturbances in the time series expansion [8]. The
robust observer based Backstepping controller for an
unknown nonlinear system with extemal disturbances [9].
Backstepping control approach is widely used to deal
the control issues of the systems having complex
nonlinearity. It is a recursive method on the basis of
Lyapunov theory of stability, which can properly handle
the systems with unknown model parameters. An adaptive
Backstepping controller for the position control of an
electro-hydrauJic actuator (EHA) is demonstrated in [10].
A 3-D path following nonlinear control of a six degree of
freedom (DOF) model scaled autonomous helicopter is
proposed using command fiItered Backstepping technique
Fig. 1: Ball and Beam System [11]. To control the exoskeleton for human upper Iimbs,
an adaptive Backstepping controller based on fuzzy
978-1-4673-8587-9/16/$31.00 ©2016 IEEE [1 )
1st IEEE International Conference on Power Electronics, Intelligent Control and Energy Systems (ICPEICES-2016)
The reminder of the paper is as folIows. Section 11 the dynamics of BBS (3) can be rewritten in the normal
contains dynamics of the BBS along with the parameters. form given as [15],
Problem statements of the proposed work are expressed in Ljh(x)
Section III. In Section IV, design of external disturbance
estimator is explained. Robust Backstepping controller for L�h(x) (4)
BBS is illustrated in Section V. ResuIts obtained through Ejh(x) J;
the simulation studies are demonstrated in Section VI and J(x)+ g(x)u J(x)+ g(x)u
concluding remarks are given in Section vrr.
11. MODELlNG OF BALL AND BEAM SY S TEM
where,
Consider a ball and beam system, where a servo
motor is coupled to the ball and beam model. The servo
3 (x ) =---gsm
LJ h
5r . (r 3 ) 4'
7L
-x
L
x
Equivalent inertia ( J,,, ) 0.0029kg-m' coordinate transformation, 7(z) and g ( ) are the z
where, Z2d can be regarded as a virtual control to robust term -K' I SJ sgn( S4 ) is taken for the rejection of
stabilize the dynamic system represented in (12) by external disturbance. On substituting u from (25), (24)
seIecting becomes
[31
1st IEEE International Conference on Power Electronics, Intelligent Control and Energy Systems (ICPEICES-2016)
(5 0.1
(30) G.
t:::
[41
1st IEEE International Conference on Power Electronics, Intelligent Control and Energy Systems (ICPEICES-2016)
�Cf)
tracking error between these converges to zero. The EDE
0
0 is augmented to estimate the unknown external
a.
disturbances of the BBS. The tracking error between the
(ij -0.2
III external disturbance and its estimate converges to zero.
-0.4
--..-- Desired trajectory Finally, robustness issue also has been addressed. The
-- Actual ball postion real-time implementation of the proposed robust control
o 5 10 15 20 25 has been worked out, it may be reported in near future.
Time (sec)
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Fig. 7: Tracking ofBall Position without Disturbances
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Fig. 9: Control Effort Applied to BBS without Disturbances
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