Title :
Control for ball and plate system based on RBF-ADRC
Author :
Duan, Huida ; Han, Kyong Won ; Zhang, Yinghui ; Tian, Yantao
Author_Institution :
Sch. of Commun. Eng., Univ. of Jilin, Changchun, China
Abstract :
Aiming at multiple input uncertainty high-order nonlinear ball and plate system, a control strategy of cascade control with multiple auto-disturbance-rejection controls is proposed. To improve the adaptive ability of the ADRC, RBF neural network is used in the parameters optimization. The simulation experiments show that the proposed control method can effectively solve the problems of coupling and uncertainty. The trajectory tracking effect is satisfactory.
Keywords :
adaptive control; cascade control; neurocontrollers; nonlinear control systems; optimisation; plates (structures); radial basis function networks; trajectory control; uncertain systems; ADRC-RBF neural network; active disturbance rejection controller; adaptive ability improvement; autodisturbance-rejection controls; cascade control; control strategy; multiple-input uncertainty high-order nonlinear ball-and-plate system; parameter optimization; trajectory tracking; Educational institutions; Equations; Jacobian matrices; Mathematical model; Neurons; Trajectory; Uncertainty; auto-disturbance-rejection control; ball and plate system; decoupling; neural network; uncertainty;
Conference_Titel :
Mechatronics and Automation (ICMA), 2012 International Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4673-1275-2
DOI :
10.1109/ICMA.2012.6282882
