The Ball and Beam System: Cascaded LQR-FLC Design and Implementation
This paper aims to derive a dynamic model of ball and beam systems (BBS), design, and implement the optimal controller linear quadratic regulator (LQR) with cascaded feedback linearization controller (FLC). It is known that missing information of the parameter of the system model can cause undesired...
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Veröffentlicht in: | International journal of control, automation, and systems automation, and systems, 2023, Vol.21 (1), p.201-207 |
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creator | Rosa, Muhammad Ridho Romdlony, Muhammad Zakiyullah Trilaksono, Bambang Riyanto |
description | This paper aims to derive a dynamic model of ball and beam systems (BBS), design, and implement the optimal controller linear quadratic regulator (LQR) with cascaded feedback linearization controller (FLC). It is known that missing information of the parameter of the system model can cause undesired tracking results. The LQR-FLC can solve the tracking problem caused by model uncertainty. The LQR controller, the inner-loop controller, is designed based on the derived BBS dynamics model. Then FLC, the outer-loop controller, is designed to get the desired tracking error dynamics. By using LQR-FLC, one can use the simple PD controller to design the tracking error dynamics. In addition, the estimator is designed to provide the controller with the full-states information. This research is worth investigating because the LQR-FLC scheme for controlling the BBS is missing in the literature. The experiment is carried out using a hardware in loop (HIL) scheme where MATLAB-Simulink is connected to a microcontroller. Simulation and experimental results show the effectiveness of the proposed cascaded LQR-FLC. |
doi_str_mv | 10.1007/s12555-021-0542-x |
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It is known that missing information of the parameter of the system model can cause undesired tracking results. The LQR-FLC can solve the tracking problem caused by model uncertainty. The LQR controller, the inner-loop controller, is designed based on the derived BBS dynamics model. Then FLC, the outer-loop controller, is designed to get the desired tracking error dynamics. By using LQR-FLC, one can use the simple PD controller to design the tracking error dynamics. In addition, the estimator is designed to provide the controller with the full-states information. This research is worth investigating because the LQR-FLC scheme for controlling the BBS is missing in the literature. The experiment is carried out using a hardware in loop (HIL) scheme where MATLAB-Simulink is connected to a microcontroller. 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J. Control Autom. Syst</addtitle><description>This paper aims to derive a dynamic model of ball and beam systems (BBS), design, and implement the optimal controller linear quadratic regulator (LQR) with cascaded feedback linearization controller (FLC). It is known that missing information of the parameter of the system model can cause undesired tracking results. The LQR-FLC can solve the tracking problem caused by model uncertainty. The LQR controller, the inner-loop controller, is designed based on the derived BBS dynamics model. Then FLC, the outer-loop controller, is designed to get the desired tracking error dynamics. By using LQR-FLC, one can use the simple PD controller to design the tracking error dynamics. In addition, the estimator is designed to provide the controller with the full-states information. This research is worth investigating because the LQR-FLC scheme for controlling the BBS is missing in the literature. The experiment is carried out using a hardware in loop (HIL) scheme where MATLAB-Simulink is connected to a microcontroller. Simulation and experimental results show the effectiveness of the proposed cascaded LQR-FLC.</description><subject>Control</subject><subject>Control systems design</subject><subject>Controllers</subject><subject>Design</subject><subject>Dynamic models</subject><subject>Engineering</subject><subject>Feedback linearization</subject><subject>Linear quadratic regulator</subject><subject>Mechatronics</subject><subject>Microcontrollers</subject><subject>Regular Papers</subject><subject>Robotics</subject><subject>Tracking errors</subject><subject>Tracking problem</subject><issn>1598-6446</issn><issn>2005-4092</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2023</creationdate><recordtype>article</recordtype><recordid>eNp1kEtLAzEYRYMoWKs_wF3AdfRLJo-JOzu1WhgQta5DmmRqyzzqZArtv3fqCK5c3c2598JB6JrCLQVQd5EyIQQBRgkIzsj-BI0YgCAcNDtFIyp0SiTn8hxdxLgBkJJpNULTxWfAE1uW2NYeT4Kt8PshdqG6x5mNzvrgcf76RmZ5hqchrlf1DzivtmWoQt3Zbt3Ul-issGUMV785Rh-zx0X2TPKXp3n2kBPHuOwI96rwrpDWyTTRUheBhsSq_sJqD9IvRaG9806oImVgKQOpOVsKplIunYVkjG6G3W3bfO1C7Mym2bV1f2mYklRIKQTrKTpQrm1ibENhtu26su3BUDBHWWaQZXpZ5ijL7PsOGzqxZ-tVaP-W_y99A2AZa08</recordid><startdate>2023</startdate><enddate>2023</enddate><creator>Rosa, Muhammad Ridho</creator><creator>Romdlony, Muhammad Zakiyullah</creator><creator>Trilaksono, Bambang Riyanto</creator><general>Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers</general><general>Springer Nature B.V</general><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><orcidid>https://orcid.org/0000-0003-4941-0644</orcidid><orcidid>https://orcid.org/0000-0002-1149-1832</orcidid><orcidid>https://orcid.org/0000-0003-3576-2120</orcidid></search><sort><creationdate>2023</creationdate><title>The Ball and Beam System: Cascaded LQR-FLC Design and Implementation</title><author>Rosa, Muhammad Ridho ; Romdlony, Muhammad Zakiyullah ; Trilaksono, Bambang Riyanto</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c246t-4d7fdcf6ac683969fe1e3a7deda9d06db5f9dcdc57f820a1206942b527846ca03</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2023</creationdate><topic>Control</topic><topic>Control systems design</topic><topic>Controllers</topic><topic>Design</topic><topic>Dynamic models</topic><topic>Engineering</topic><topic>Feedback linearization</topic><topic>Linear quadratic regulator</topic><topic>Mechatronics</topic><topic>Microcontrollers</topic><topic>Regular Papers</topic><topic>Robotics</topic><topic>Tracking errors</topic><topic>Tracking problem</topic><toplevel>online_resources</toplevel><creatorcontrib>Rosa, Muhammad Ridho</creatorcontrib><creatorcontrib>Romdlony, Muhammad Zakiyullah</creatorcontrib><creatorcontrib>Trilaksono, Bambang Riyanto</creatorcontrib><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><jtitle>International journal of control, automation, and systems</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Rosa, Muhammad Ridho</au><au>Romdlony, Muhammad Zakiyullah</au><au>Trilaksono, Bambang Riyanto</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>The Ball and Beam System: Cascaded LQR-FLC Design and Implementation</atitle><jtitle>International journal of control, automation, and systems</jtitle><stitle>Int. 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This research is worth investigating because the LQR-FLC scheme for controlling the BBS is missing in the literature. The experiment is carried out using a hardware in loop (HIL) scheme where MATLAB-Simulink is connected to a microcontroller. Simulation and experimental results show the effectiveness of the proposed cascaded LQR-FLC.</abstract><cop>Bucheon / Seoul</cop><pub>Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers</pub><doi>10.1007/s12555-021-0542-x</doi><tpages>7</tpages><orcidid>https://orcid.org/0000-0003-4941-0644</orcidid><orcidid>https://orcid.org/0000-0002-1149-1832</orcidid><orcidid>https://orcid.org/0000-0003-3576-2120</orcidid></addata></record> |
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subjects | Control Control systems design Controllers Design Dynamic models Engineering Feedback linearization Linear quadratic regulator Mechatronics Microcontrollers Regular Papers Robotics Tracking errors Tracking problem |
title | The Ball and Beam System: Cascaded LQR-FLC Design and Implementation |
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