Design of fixed time backstepping controller for ball and plate system

Peng Xu; Fenghong Xiang; Jiangfeng Li

doi:10.1117/12.2644482

10 November 2022 Design of fixed time backstepping controller for ball and plate system

Peng Xu, Fenghong Xiang, Jiangfeng Li

Proceedings Volume 12301, 6th International Conference on Mechatronics and Intelligent Robotics (ICMIR2022); 1230109 (2022) https://doi.org/10.1117/12.2644482
Event: 6th International Conference on Mechatronics and Intelligent Robotics, 2022, Kunming, China

Abstract

Ball and plate system is a typical multiple-input and multiple-output system, which has the problems of slow response speed, large oscillation amplitude, long oscillation time and other problems of poor stability. In this paper, a fixed time backstepping controller is proposed to improve the existing problems. Firstly, the mathematical model of the ball and plate system is established under the condition of ignoring the interference, and a fixed time convergent backstepping controller is designed according to the mathematical model. Secondly, the backward step method is used to analyze the system, and the command filter is used to process the virtual control parameters for derivation. Then, Lyapunov theory proves the stability of the whole system, which indicates that the system converges in the fixed time. Finally, the simulation results show that the proposed controller not only improves the accuracy and stability of the trajectory tracking, but also ensures that the ball can track the desired trajectory in a fixed time.

Citation Download Citation

Peng Xu, Fenghong Xiang, and Jiangfeng Li "Design of fixed time backstepping controller for ball and plate system", Proc. SPIE 12301, 6th International Conference on Mechatronics and Intelligent Robotics (ICMIR2022), 1230109 (10 November 2022); https://doi.org/10.1117/12.2644482

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