Back-stepping control based on extended state observer for magnetic levitation ball

Aiming at the characteristics of non-linearity,uncertainty and susceptibility to disturbance of single-degree-of-freedom magnetic levitation ball system,a back-stepping control method based on extended state observer (ESO-BS) was proposed to improve the control performance of the system.The extended...

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Autores principales:	Binglin LI, Li ZENG, Pengming ZHANG, Zhida ZHU
Formato:	article
Lenguaje:	ZH
Publicado:	Hebei University of Science and Technology 2021
Materias:	control system simulation technology; magnetic levitation ball; extended state observer(eso); back-stepping control; position tracking Technology T
Acceso en línea:	https://doaj.org/article/439fa55adf6b40aa9a3b5300438bf929
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spelling	oai:doaj.org-article:439fa55adf6b40aa9a3b5300438bf9292021-11-23T07:16:39ZBack-stepping control based on extended state observer for magnetic levitation ball1008-154210.7535/hbkd.2021yx02007https://doaj.org/article/439fa55adf6b40aa9a3b5300438bf9292021-04-01T00:00:00Zhttp://xuebao.hebust.edu.cn/hbkjdx/ch/reader/create_pdf.aspx?file_no=b202102007&flag=1&journal_https://doaj.org/toc/1008-1542Aiming at the characteristics of non-linearity,uncertainty and susceptibility to disturbance of single-degree-of-freedom magnetic levitation ball system,a back-stepping control method based on extended state observer (ESO-BS) was proposed to improve the control performance of the system.The extended state observer was used to estimate the position,velocity and disturbance information of the levitation ball in real time when the system was disturbed by uncertainty.The estimation was combined with the controller design,then the back-stepping method was used to design the levitation position tracking control law of the magnetic levitation ball,and the Lyapunov method was used to prove the ultimate bounded convergence of the tracking error of the system.The simulation results show that,compared with PID control,the adjusting time of ESO-BS control system is 0.01 s,while that of PID control is 0.08 s,which is obviously longer,so the dynamic characteristic of ESO-BS control is better than that of PID control.When there is uncertainty in the system,the designed control law can realize the stable suspension of the ball,and can realize the position tracking according to the required suspension height position.Binglin LILi ZENGPengming ZHANGZhida ZHUHebei University of Science and Technologyarticlecontrol system simulation technology; magnetic levitation ball; extended state observer(eso); back-stepping control; position trackingTechnologyTZHJournal of Hebei University of Science and Technology, Vol 42, Iss 2, Pp 144-151 (2021)
institution	DOAJ
collection	DOAJ
language	ZH
topic	control system simulation technology; magnetic levitation ball; extended state observer(eso); back-stepping control; position tracking Technology T
spellingShingle	control system simulation technology; magnetic levitation ball; extended state observer(eso); back-stepping control; position tracking Technology T Binglin LI Li ZENG Pengming ZHANG Zhida ZHU Back-stepping control based on extended state observer for magnetic levitation ball
description	Aiming at the characteristics of non-linearity,uncertainty and susceptibility to disturbance of single-degree-of-freedom magnetic levitation ball system,a back-stepping control method based on extended state observer (ESO-BS) was proposed to improve the control performance of the system.The extended state observer was used to estimate the position,velocity and disturbance information of the levitation ball in real time when the system was disturbed by uncertainty.The estimation was combined with the controller design,then the back-stepping method was used to design the levitation position tracking control law of the magnetic levitation ball,and the Lyapunov method was used to prove the ultimate bounded convergence of the tracking error of the system.The simulation results show that,compared with PID control,the adjusting time of ESO-BS control system is 0.01 s,while that of PID control is 0.08 s,which is obviously longer,so the dynamic characteristic of ESO-BS control is better than that of PID control.When there is uncertainty in the system,the designed control law can realize the stable suspension of the ball,and can realize the position tracking according to the required suspension height position.
format	article
author	Binglin LI Li ZENG Pengming ZHANG Zhida ZHU
author_facet	Binglin LI Li ZENG Pengming ZHANG Zhida ZHU
author_sort	Binglin LI
title	Back-stepping control based on extended state observer for magnetic levitation ball
title_short	Back-stepping control based on extended state observer for magnetic levitation ball
title_full	Back-stepping control based on extended state observer for magnetic levitation ball
title_fullStr	Back-stepping control based on extended state observer for magnetic levitation ball
title_full_unstemmed	Back-stepping control based on extended state observer for magnetic levitation ball
title_sort	back-stepping control based on extended state observer for magnetic levitation ball
publisher	Hebei University of Science and Technology
publishDate	2021
url	https://doaj.org/article/439fa55adf6b40aa9a3b5300438bf929
work_keys_str_mv	AT binglinli backsteppingcontrolbasedonextendedstateobserverformagneticlevitationball AT lizeng backsteppingcontrolbasedonextendedstateobserverformagneticlevitationball AT pengmingzhang backsteppingcontrolbasedonextendedstateobserverformagneticlevitationball AT zhidazhu backsteppingcontrolbasedonextendedstateobserverformagneticlevitationball
_version_	1718416822330458112

Back-stepping control based on extended state observer for magnetic levitation ball

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