Control of Ball and Beam with LQR Control Scheme using Flatness Based Approach

被引：0
|
作者：
Shah, Mustansar [1 ]
Ali, Rahat [1 ]
Malik, Fahad Mumtaz [1 ]
机构：
[1] Natl Univ Sci & Technol, Coll Elecr & Mech Engn, Islamabad, Pakistan
来源：
2018 INTERNATIONAL CONFERENCE ON COMPUTING, ELECTRONIC AND ELECTRICAL ENGINEERING (ICE CUBE) | 2018年
关键词：
Nonlinear system; linear quadratic regulator; tracking; ball and beam;
D O I：
暂无
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
In this paper, a control design problem for a nonlinear ball and beam system is discussed. A state feedback linear quadratic regulator (LQR) based control scheme is discussed using the flatness property of the system. A state estimation is carried out with Kalman filter while utilizing differentially flat nonlinear system written in the Brunovsky canonical form. The performance of the proposed control strategy is validated through practical tracking results.
引用
收藏
页数：5
相关论文
共 50 条
  • [21] A flatness-based approach to internal model control
    Schwarzmann, Dieter
    Lunze, Jan
    Nitsche, Rainer
    2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12, 2006, 1-12 : 538 - +
  • [22] Control of Underactuated AUVs: A Flatness-Based Approach
    de Aquino Limaverde Filho, Jose Oniram
    Feitosa Fortaleza, Eugenio Liborio
    OCEANS 2014 - TAIPEI, 2014,
  • [23] A Learning-Based Fuzzy LQR Control Scheme for Height Control of An Unmanned Quadrotor Helicopter
    Liu, Z. X.
    Yuan, C.
    Zhang, Y. M.
    Luo, J.
    2014 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS), 2014, : 936 - 941
  • [24] MODELING AND CONTROL OF BALL AND BEAM SYSTEM USING MODEL BASED AND NON-MODEL BASED CONTROL APPROACHES
    Keshmiri, Mohammad
    Jahromi, Ali Fellah
    Mohebbi, Abolfazl
    Amoozgar, Mohammad Hadi
    Xie, Wen-Fang
    INTERNATIONAL JOURNAL ON SMART SENSING AND INTELLIGENT SYSTEMS, 2012, 5 (01): : 14 - 35
  • [25] Control of ball mill grinding circuit using model predictive control scheme
    Ramasamy, M
    Narayanan, SS
    Rao, CDP
    JOURNAL OF PROCESS CONTROL, 2005, 15 (03) : 273 - 283
  • [26] On the Linear Control of Underactuated Nonlinear Systems Via Tangent Flatness and Active Disturbance Rejection Control: The Case of the Ball and Beam System
    Ramirez-Neria, Mario
    Sira-Ramirez, Hebertt
    Garrido-Moctezuma, Ruben
    Luviano-Juarez, Alberto
    JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2016, 138 (10):
  • [27] BALL AND BEAM CONTROL EXPERIMENT
    WELLSTEAD, PE
    CHRIMES, V
    FLETCHER, PR
    MOODY, R
    ROBINS, AJ
    INTERNATIONAL JOURNAL OF ELECTRICAL ENGINEERING EDUCATION, 1978, 15 (01) : 21 - 39
  • [28] Control of a New Swimming Microrobot Design Using Flatness-ANFIS-Based Approach
    Meguellati, M.
    Srairi, F.
    Djeffal, F.
    Saidi, L.
    WORLD CONGRESS ON ENGINEERING, WCE 2015, VOL I, 2015, : 354 - 358
  • [29] Theory-region Changed Fuzzy Control of Ball & Plate System based on LQR
    Shi, Zhi Hui
    Lui, Feng
    Qi, Qian
    MANUFACTURING, DESIGN SCIENCE AND INFORMATION ENGINEERING, VOLS I AND II, 2015, : 1277 - 1284
  • [30] An adaptive LQR controller based on PSO and maximum predominant frequency approach for semi-active control scheme using MR Damper
    Kumar, Gaurav
    Kumar, Ashok
    Jakka, Ravi S.
    MECHANICS & INDUSTRY, 2018, 19 (01)
12345