Control for ball and plate system based on RBF-ADRC

Author

Duan, Huida ; Han, Kyong Won ; Zhang, Yinghui ; Tian, Yantao

Author_Institution

Sch. of Commun. Eng., Univ. of Jilin, Changchun, China

fYear

2012

fDate

5-8 Aug. 2012

Firstpage

434

Lastpage

439

Abstract

Aiming at multiple input uncertainty high-order nonlinear ball and plate system, a control strategy of cascade control with multiple auto-disturbance-rejection controls is proposed. To improve the adaptive ability of the ADRC, RBF neural network is used in the parameters optimization. The simulation experiments show that the proposed control method can effectively solve the problems of coupling and uncertainty. The trajectory tracking effect is satisfactory.

Keywords

adaptive control; cascade control; neurocontrollers; nonlinear control systems; optimisation; plates (structures); radial basis function networks; trajectory control; uncertain systems; ADRC-RBF neural network; active disturbance rejection controller; adaptive ability improvement; autodisturbance-rejection controls; cascade control; control strategy; multiple-input uncertainty high-order nonlinear ball-and-plate system; parameter optimization; trajectory tracking; Educational institutions; Equations; Jacobian matrices; Mathematical model; Neurons; Trajectory; Uncertainty; auto-disturbance-rejection control; ball and plate system; decoupling; neural network; uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2012 International Conference on

Conference_Location

Chengdu

Print_ISBN

978-1-4673-1275-2

Type

conf

DOI

10.1109/ICMA.2012.6282882

Filename

6282882