Robust Position Control of a Levitating Ball via a Backstepping
Controller

Adiguzel, Fatih; Türker, Türker

doi:10.5152/electrica.2021.21082

Robust Position Control of a Levitating Ball via a Backstepping Controller

Fatih ADIGÜZEL, (İstanbul Üniversitesi-Cerrahpaşa, Elektrik ve Elektronik Mühendisliği Bölümü, İstanbul, Türkiye)

Türker TÜRKER (Yıldız Teknik Üniversitesi, Kontrol ve Otomasyon Mühendisliği Bölümü, İstanbul, Türkiye)

Electrica

8 1

Yıl: 2022 Cilt: 22 Sayı: 1 Sayfa Aralığı: 61 - 69 Metin Dili: İngilizce DOI: 10.5152/electrica.2021.21082 İndeks Tarihi: 03-07-2022

Robust Position Control of a Levitating Ball via a Backstepping Controller

Öz:

In this paper, a combination of a robust backstepping controller and an integral action for a magnetic levitation system is presented. The mathematical model of the magnetic levitation system containing uncertainties and high-order nonlinear terms has quite a complex structure. The principal aim of this study is to drive the ball position to the desired reference in the presence of a complex structure, parametric uncertainties, and time-varying disturbances. The designed nonlinear controller is based on the robust backstepping technique, in which the robustness is provided via nonlinear damping terms. The boundedness of the tracking error is guaranteed with this method. In order to eliminate steady-state position error caused by the uncertainties and unmodeled dynamics, an integral term is added to the controller structure. After designing the proposed nonlinear controller, the overall closed-loop stability is accordingly analyzed with a Lyapunov-like function. Simulation studies are performed and the results are presented to test the success and the performance of the proposed controller.

Anahtar Kelime:

Belge Türü: Makale Makale Türü: Araştırma Makalesi Erişim Türü: Erişime Açık

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APA	Adiguzel F, Türker T (2022). Robust Position Control of a Levitating Ball via a Backstepping Controller. , 61 - 69. 10.5152/electrica.2021.21082
Chicago	Adiguzel Fatih,Türker Türker Robust Position Control of a Levitating Ball via a Backstepping Controller. (2022): 61 - 69. 10.5152/electrica.2021.21082
MLA	Adiguzel Fatih,Türker Türker Robust Position Control of a Levitating Ball via a Backstepping Controller. , 2022, ss.61 - 69. 10.5152/electrica.2021.21082
AMA	Adiguzel F,Türker T Robust Position Control of a Levitating Ball via a Backstepping Controller. . 2022; 61 - 69. 10.5152/electrica.2021.21082
Vancouver	Adiguzel F,Türker T Robust Position Control of a Levitating Ball via a Backstepping Controller. . 2022; 61 - 69. 10.5152/electrica.2021.21082
IEEE	Adiguzel F,Türker T "Robust Position Control of a Levitating Ball via a Backstepping Controller." , ss.61 - 69, 2022. 10.5152/electrica.2021.21082
ISNAD	Adiguzel, Fatih - Türker, Türker. "Robust Position Control of a Levitating Ball via a Backstepping Controller". (2022), 61-69. https://doi.org/10.5152/electrica.2021.21082

APA	Adiguzel F, Türker T (2022). Robust Position Control of a Levitating Ball via a Backstepping Controller. Electrica, 22(1), 61 - 69. 10.5152/electrica.2021.21082
Chicago	Adiguzel Fatih,Türker Türker Robust Position Control of a Levitating Ball via a Backstepping Controller. Electrica 22, no.1 (2022): 61 - 69. 10.5152/electrica.2021.21082
MLA	Adiguzel Fatih,Türker Türker Robust Position Control of a Levitating Ball via a Backstepping Controller. Electrica, vol.22, no.1, 2022, ss.61 - 69. 10.5152/electrica.2021.21082
AMA	Adiguzel F,Türker T Robust Position Control of a Levitating Ball via a Backstepping Controller. Electrica. 2022; 22(1): 61 - 69. 10.5152/electrica.2021.21082
Vancouver	Adiguzel F,Türker T Robust Position Control of a Levitating Ball via a Backstepping Controller. Electrica. 2022; 22(1): 61 - 69. 10.5152/electrica.2021.21082
IEEE	Adiguzel F,Türker T "Robust Position Control of a Levitating Ball via a Backstepping Controller." Electrica, 22, ss.61 - 69, 2022. 10.5152/electrica.2021.21082
ISNAD	Adiguzel, Fatih - Türker, Türker. "Robust Position Control of a Levitating Ball via a Backstepping Controller". Electrica 22/1 (2022), 61-69. https://doi.org/10.5152/electrica.2021.21082