An Observer-Based Robust Adaptive Fuzzy Back-Stepping Control of Ball and Beam System

摘要

In this paper, an observer-based robust adaptive fuzzy back-stepping control is provided for a ball and beam system whileaccessible state variables of the system are position and angle of the ball and beam, respectively. Firstly, based on thementioned measureable signals, a velocity observer is employed to estimate rate of the available states of the system and thena robust adaptive fuzzy back-stepping control is accomplished by the estimated states of the system. Asymptotic stability ofthe observer-based control system in the presence of un-modeled dynamics and uncertainties is shown by Lyapunov theory.Simulation results illustrate proper functioning of the adaptive fuzzy back-stepping control method on the ball and beamsystem. Also, the results of the proposed method are compared with an existing method in order to show performance andaccuracy of the controller.