Adaptive Robust Control for A Class Of Under-Actuated Nonlinear Systems With Uncertainties

Moghtader Arbat Sofla, Sariyeh; Mazinan, A.H.; Mahmoodabadi, M.J

Adaptive Robust Control for A Class Of Under-Actuated Nonlinear Systems With Uncertainties

Document Type : Original Article

Authors

sariyeh Moghtader Arbat sofla ¹

A.H. Mazinan ¹

M.J Mahmoodabadi ²

¹ Department of Control Engineering, Faculty of of Electrical Engineering, South Tehran Branch University of Islamic Azad University (IAU), Tehran, Iran

² Department of Mechanical Engineering, Sirjan University of Technology, Sirjan, Iran

Abstract

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.

Keywords

Feedback linearization

optimal control

robust control

adaptive control

multi-objective artificial hummingbird algorithm