نوع مقاله : مقاله پژوهشی
نویسندگان
1 دانشجوی دکتری، گروه مهندسی برق _کنترل، دانشگاه آزاد اسلامی واحد تهران جنوب، تهران، ایران
2 دانشیار،گروه مهندسی برق _کنترل، دانشگاه آزاد اسلامی واحد تهران جنوب، تهران، ایران
3 دانشیار، دانشکده مهندسی مکانیک، دانشگاه صنعتی سیرجان، سیرجان، ایران
کلیدواژهها
موضوعات
عنوان مقاله English
نویسندگان English
In recent years, due to the widespread use of nonlinear under-actuated systems, many efforts have been made to design a controller compatible with these systems. In fact, the defect in stimulation is done in order to reduce the number of system acctuators, in order to lighten the mechanism and reduce the cost of production. Such applications require a high degree of precision and innovation in control and sustainability.This paper proposes an optimal adaptive control method for the stabilization of under-actuated fourth-order balls and beam system, which is a classical example of inherently unstable systems. The basic structure for this controller is the feedback linearization (FBL) technique, while a sliding surface is applied using the sliding mod along with an adaptive method to calculate the interest coefficients. In addition, the control coefficients are optimized using the hummingbird algorithm by considering two opposing objective functions. Finally, the effectiveness of the proposed method for controlling the nonlinear ball and beam system is investigated. The results of the simulations show the high efficiency of the proposed method compared to similar works.
کلیدواژهها English
