Decoupled Backstepping Sliding Mode Control of a Ball and Beam System

Öz

In this study, a decoupled backstepping sliding mode controller is designed for a ball and beam system as an example of underactuated mechanical systems. The decoupled backstepping sliding mode control method which is a combination of backstepping and sliding mode with a decoupling algorithm is considered to control a ball and beam system. The stability of the system is guaranteed by the design procedure of the controller which is based on the Lyapunov theorem. The effectiveness of the designed controller is verified by simulation tests. Simulation results show that the decoupled backstepping sliding method provides a robust control signal under external disturbances compared to the conventional decoupled sliding mode control method.

Anahtar Kelimeler

• Underactuated mechanical systems
• Ball and beam system
• Sliding mode control
• Backstepping control

Bir Top ve Çubuk Sisteminin Ayrıklaştırılmış Geri Adımlamalı Kayan Kipli Kontrolü

Öz

Bu çalışmada, eksik eyleyicili mekanik sistemlerin bir örneği olan top ve çubuk sistemi için bir ayrıklaştırılmış geri adımlamalı kayan kipli kontrol kuralı tasarlanmıştır. Kayan kipli kontrol ve geri adımlamalı kontrol yöntemlerini birleştiren ve bir ayrıklaştırma algoritması ile bu yöntemin eksik eyleyicili sistemlere uygulanmasını sağlayan ayrıklaştırılmış geri adımlamalı kayan kipli kontrol yöntemi top ve çubuk sisteminin kontrolünde kullanılmıştır. Kontrolörün tasarım yöntemi Lyapunov teoremine dayandığı için sistemin kararlılığı garanti altına alınmıştır. Tasarlanan kontrolörün etkinliği benzetim çalışmaları ile test edilmiştir. Benzetim bulguları ayrıklaştırılmış geri adımlamalı kayan kipli kontrol yönteminin geleneksel ayrıklaştırılmış kayan kipli kontrol yöntemi ile karşılaştırıldığında dış bozuculara karşı etkili bir kontrol sinyali ürettiğini göstermiştir.

Anahtar Kelimeler

• Eksik eyleyicili mekanik sistemler
• Top ve çubuk sistemi
• Kayan kipli kontrol
• Geri adımlamalı kontrol

Kaynakça

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