Bir Top ve Çubuk Sisteminin Ayrıklaştırılmış Geri Adımlamalı Kayan Kipli Kontrolü

Bu çalışmada, eksik eyleyicili mekanik sistemlerin bir örneği olan top ve çubuk sistemi için birayrıklaştırılmış geri adımlamalı kayan kipli kontrol kuralı tasarlanmıştır. Kayan kipli kontrol ve geriadımlamalı kontrol yöntemlerini birleştiren ve bir ayrıklaştırma algoritması ile bu yöntemin eksikeyleyicili sistemlere uygulanmasını sağlayan ayrıklaştırılmış geri adımlamalı kayan kipli kontrol yöntemitop ve çubuk sisteminin kontrolünde kullanılmıştır. Kontrolörün tasarım yöntemi Lyapunov teoreminedayandığı için sistemin kararlılığı garanti altına alınmıştır. Tasarlanan kontrolörün etkinliği benzetimçalışmaları ile test edilmiştir. Benzetim bulguları ayrıklaştırılmış geri adımlamalı kayan kipli kontrolyönteminin geleneksel ayrıklaştırılmış kayan kipli kontrol yöntemi ile karşılaştırıldığında dış bozucularakarşı etkili bir kontrol sinyali ürettiğini göstermiştir

Decoupled Backstepping Sliding Mode Control of a Ball and Beam System

In this study, a decoupled backstepping sliding mode controller is designed for a ball and beam system as an example of underactuated mechanical systems. The decoupled backstepping sliding mode control method which is a combination of backstepping and sliding mode with a decoupling algorithm is considered to control a ball and beam system. The stability of the system is guaranteed by the design procedure of the controller which is based on the Lyapunov theorem. The effectiveness of the designed controller is verified by simulation tests. Simulation results show that the decoupled backstepping sliding method provides a robust control signal under external disturbances compared to the conventional decoupled sliding mode control method.

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