Research On Backstepping Sliding Mode Control Of Cricket System Based On New Reaching La

The ball and plate system is a typical multi-input and multi-output system,which is often used to test various control algorithms,it has some problems such as slow response speed,large oscillation range,poor tracking accuracy and long oscillation time caused by external uncertain factors.This paper designs two controllers,with the aim of enhancing the ball and plate system’s response speed,precision of control,and robustness,which are based on the backstepping and sliding mode control methods,and finally combines the two methods and introduces optimization algorithm to design a controller with better performance.The main work of this paper is as follows:To begin with,the ball and plate system’s mechanical structure is presented and the Lagrange modeling theory is employed to deduce its dynamic equation.Two aspects are used to establish the angular acceleration as the control quantity and angle as the control quantity model,and then model simplification and controllability analysis are executed.Secondly,a mathematical model is employed to design a fixed-time backstepping controller.The backstepping theory is then employed to evaluate the system,with the instruction filter being utilized to deal with the virtual control quantity for derivation.Moreover,Lyapunov’s second method is employed to demonstrate the stability of the entire system.Simultaneously,this paper proves the system converges in a predetermined time.The experimentation simulations are conducted to confirm that the suggested controller not only enhances the precision and steadiness of the ball’s trajectory tracking,but also guarantees the ball’s trajectory convergence within a fixed time.Proposing an adaptive sliding mode controller based on a new reaching law,the ball and plate model was used to design the sliding mode surface of the system using state error,the new reaching law with radial basis function(RBF)neural network,and the stability of the proposed control scheme with Lyapunov theory.Subsequently,the simulation experiment verified the controller’s excellent quality in both precision and robustness,as well as its ability to effectively inhibit chattering generated by the controller.This was due to the backstepping method’s weak anti-interference ability and the sliding mode control method’s good robustness.The system’s response speed is also dramatically enhanced.Finally,The backstepping method is found to be weak in robustness and the sliding mode control method has drawbacks such as chattering and complex structure.Therefore,by combining backstepping and sliding mode control,this paper proposes an optimal controller based on a novel reaching law.The employment of error tracking and virtual control quantity is used to design a sliding mode surface.The fusion of backstepping and sliding mode control has been employed to create a new reaching law and controller;besides the stability of the entire system is testified by Lyapunov’s second method.An algorithm of improved particle swarm optimization(PSO)is employed to discover the most suitable parameters of group of novel reaching law for attaining the best control.The Simulation results demonstrate that the suggested control plan not only augments the system’s precision,robustness and response speed of the system,but also significantly improves the chattering problem of the controller,which verifies the feasibility of the proposed control scheme.