Velocity Observer-Based Nonlinear Self-Tuning Position Stabilizer for Ball-Beam System Applications
- Authors
- Lee, Chae Rin; Park, Jae Kyung; Kim, Seok-Kyoon; Ahn, Choon Ki
- Issue Date
- 7월-2020
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Keywords
- Observers; Mathematical model; Tuning; Convergence; Closed loop systems; DC motors; Circuits and systems; Ball-beam systems; velocity observer; self-tuner; disturbance observer
- Citation
- IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS, v.67, no.7, pp.1309 - 1313
- Indexed
- SCIE
SCOPUS
- Journal Title
- IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS
- Volume
- 67
- Number
- 7
- Start Page
- 1309
- End Page
- 1313
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/54478
- DOI
- 10.1109/TCSII.2019.2932728
- ISSN
- 1549-7747
- Abstract
- This brief exhibits a nonlinear self-tuning position stabilization algorithm for ball-beam system applications under the consideration of parameter uncertainties and actuator dynamics.; there are two major contributions. First, a first-order ball velocity estimator is proposed using only the ball position feedback without dependence on system parameters. Second, the resulting nonlinear controller incorporates the time-varying feedback gain driven by the proposed self-tuner. Third, a first-order disturbance observer (DOB) is introduced to remove the high-frequency disturbance attenuation performance. The various simulation results-based-on MATLAB/Simulink validate the practical merits of the proposed scheme.
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Collections - College of Engineering > School of Electrical Engineering > 1. Journal Articles
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