Nussbaum-based Function Control Input Limited Control for the Ball and Plate System
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 was adopted on the basis of backstepping.Firstly,the integrated model of ball and plate system with servo system was established,the control law with constraints was designed,the Nussbaum function was designed,and the adaptive law was designed by combining the backstepping method,and finally the stability of the closed-loop system was proved by Barbalat lemma.The simulation results showed that the proposed method has a certain anti-disturbance ability and good trajectory tracking control performance under the condition of limited input.
the ball and plate systemNussbaum functioncontrol input limitedbackstepping
万方数据
维普
