Several Tracking Control Methods Research For Ball And Plate System Based On Backstepping

As a multivariable,strongly coupled,complex nonlinear system,the research results of the ball and plate system can be extended to practical nonlinear systems such as industrial robots and satellite positioning.Therefore,the tracking control of the ball and plate system has always been the focus of many scholars.In order to consider the various nonlinear factors in the system and improve the control precision of the ball and plate system,this paper studies several types of modeling and control problems of the ball and plate system.The main contents and innovations are as follows:1.A problem of mathematical model establishment when the ball and plate system is subjected to stochastic disturbances is studied.Mechanical systems are often subject to stochastic disturbances in practice,and these disturbances will affect the system performance in an uncertain way.In order to realize the high precision control of the ball and plate system,the influence of stochastic disturbance is introduced reasonably in the process of establishing the mathematical model of the ball and plate system,and the stochastic mathematical model of the ball and plate system is established.2.An adaptive neural network H? tracking control problem of the ball and plate system under external disturbance is studied.Considering the friction,coupling and external disturbance of the ball and plate system,a new adaptive neural network H? tracking control strategy of the ball and plate system with unknown input saturation is proposed by combining the H? control theory and dynamic surface technique.The control strategy ensures that all the signals in the closed-loop system are bounded,and the tracking error can converge to a small neighborhood near the origin by adjusting the control parameters.The effectiveness of the proposed control method is verified by a simulation experiment.3.An adaptive finite-time tracking control method based on command filtering is proposed for the ball and plate system which considers various factors.The finite-time control theory is introduced into the tracking control of the ball and plate system.Considering the friction,coupling and external disturbance,an adaptive finite-time tracking controller of the ball and plate system with unknown input saturation is researched by backstepping method and command filtering method.The designed controller ensures that the tracking errors of the ball and plate system can be converged in a finite time.A simulation experiment is given,and the results illustrate the feasibility of the control scheme.4.A finite-time full state prescribed performance tracking control problem of the ball and plate system under stochastic noise is studied.Based on a stochastic mathematical model of the ball and plate system,a finite-time full state prescribed performance tracking controller is studied for the ball and plate system with unknown input saturation by combining a new prescribed performance function and state constraint design method.The designed controller ensures that the system tracking error converges to a predetermined bound within any given settling time which is independent of the initial states of the system.A simulation experiment demonstrates the effectiveness of the designed controller.