Control of AMIRA's ball and beam system via improved fuzzy feedback linearization approach

Ting Li Chien, Chung Cheng Chen, Ming Chun Tsai, Ying Chen Chen

Research output: Contribution to journalArticlepeer-review

29 Scopus citations

Abstract

This paper first studies the tracking and almost disturbance decoupling problem of nonlinear AMIRA's ball and beam system based on the feedback linearization approach and fuzzy logic control. The main contribution of this study is to construct a controller, under appropriate conditions, such that the resulting closed-loop system is valid for any initial condition and bounded tracking signal with the following characteristics: input-to-state stability with respect to disturbance inputs and almost disturbance decoupling, i.e., the influence of disturbances on the L2 norm of the output tracking error can be arbitrarily attenuated by changing some adjustable parameters. One example, which cannot be solved by the first paper on the almost disturbance decoupling problem, is proposed in this paper to exploit the fact that the tracking and the almost disturbance decoupling performances are easily achieved by our proposed approach. The simulation results show that our proposed approach has achieved the almost disturbance decoupling performance perfectly.

Original languageEnglish (US)
Pages (from-to)3791-3804
Number of pages14
JournalApplied Mathematical Modelling
Volume34
Issue number12
DOIs
StatePublished - Dec 2010
Externally publishedYes

Keywords

  • AMIRA's ball and beam system
  • Almost disturbance decoupling
  • Composite Lyapunov approach
  • Feedback linearizable
  • Fuzzy logic control
  • Uniform ultimate bounded

ASJC Scopus subject areas

  • Modeling and Simulation
  • Applied Mathematics

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