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| Nussbaum-based Function Control Input Limited Control for the Ball and Plate System |
| WANG Jiawei *, HAN Guangxin**,CHEN Senlin
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| School of Information and Control Engineering, Jilin Institute of Chemical Technology, Jilin City 132022, China |
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Abstract To realize the high-precision trajectory tracking control of ball and plate system under the constraint of control input, the control input limited control method based on Nussbaum function is adopted on the basis of backstepping. Firstly, the integrated model of ball and plate system with servo system is established, the control law with constraints is designed, the Nussbaum function is designed, and the adaptive law is designed by combining the backstepping method, and finally the stability of the closed-loop system is proved by Barbalat lemma. The simulation results show that the proposed method has a certain anti-disturbance ability and good trajectory tracking control performance under the condition of limited input.
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Published: 25 May 2024
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