T-S Fuzzy Model-Based Adaptive Dynamic Surface Control for Ball and Beam System

Author

Yeong-Hwa Chang ; Wei-Shou Chan ; Chia-Wen Chang

Author_Institution

Dept. of Electr. Eng., Chang Gung Univ., Taoyuan, Taiwan

Volume

60

Issue

6

fYear

2013

fDate

6/1/2013 12:00:00 AM

Firstpage

2251

Lastpage

2263

Abstract

In this paper, the balance control of a ball and beam system is considered. Based on the T-S fuzzy modeling, the dynamic model of the ball and beam system is formulated as a strict feedback form with modeling errors. Then, an adaptive dynamic surface control (DSC) is utilized to achieve the goal of ball positioning subject to parameter uncertainties. The robust stability of the closed-loop system is preserved by using the Lyapunov theorem. In addition to simulation results, the proposed T-S fuzzy model-based adaptive dynamic surface controller is applied to a real ball and beam system for practical evaluations. Simulation and experimental results illustrate that the proposed control scheme has much better performance than that of conventional DSC. Furthermore, parameter uncertainties and external disturbance are considered to highlight the robustness of the proposed control scheme.

Keywords

Lyapunov methods; adaptive control; beams (structures); closed loop systems; feedback; fuzzy set theory; open loop systems; position control; robust control; uncertain systems; Lyapunov theorem; T-S fuzzy model; adaptive DSC; adaptive dynamic surface control; ball and beam system; ball positioning; closed loop system; dynamic model; error modeling; feedback; parameter uncertainty; robust stability; Adaptation models; Backstepping; Computational modeling; Gears; Lyapunov methods; Mathematical model; Uncertainty; Ball and beam system; Takagi-Sugeno (T-S) fuzzy modeling; dynamic surface control (DSC);

fLanguage

English

Journal_Title

Industrial Electronics, IEEE Transactions on

Publisher

ieee

ISSN

0278-0046

Type

jour

DOI

10.1109/TIE.2012.2192891

Filename

6177238