Robust Backstepping Control with Disturbance Rejection for a class of Underactuated Systems

被引：0

作者：

Kazim, Muhammad ^{[1
]}

Zaidi, Adeel ^{[1
]}

Zhang, Lixian ^{[1
]}

Mehmood, Adeel ^{[2
]}

机构：

[1] Harbin Inst Technol, Sch Astronaut, Harbin 150080, Heilongjiang, Peoples R China

[2] Comsats Inst Informat & Technol, Sch Elect & Comp Engn, Islamabad 44000, Pakistan

来源：

IECON 2017 - 43RD ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY | 2017年

关键词：

Ball and plate system (BPS); ball and beam system (BBS); underactuated; disturbance rejection; linear quadratic regulator (LQR); backstepping; BEAM; BALL;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

This paper is concerned with the problem of stabilization and tracking for a class of underactuated systems subjected to external disturbances. Based on the mathematical model of a 4 degrees of freedom (4DOF) ball and plate system, a robust backstepping controller with disturbance rejection is developed. The proposed controller is capable of handling bounded uncertainties with unknown periodicity affecting the control. A comprehensive comparison between linear quadratic regulator (LQR) and the robust backstepping controller is provided, which affirms the superior performance of the proposed control design.

引用

页码：3104 / 3109

页数：6

共 14 条

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