Abstract
In this study, the stabilization of cart-pendulum system with a discrete-time backstepping controller and the attenuation of the disturbance affecting on the cart are considered. In order to enable discrete-time backstepping design discrete-time partial feedback linearization performed and a novel discrete-time coordinate transformation is proposed. Before construction of backstepping controller, a nonlinear disturbance estimator design is proposed with Immersion and Invariance approach in the discrete-time setting. The estimated disturbance values used in the partial feedback linearization and construction of backstepping controller. The performances of proposed algorithms are tested by simulations.
Original language | English |
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Title of host publication | ISMSIT 2018 - 2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, Proceedings |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
ISBN (Electronic) | 9781538641842 |
DOIs | |
Publication status | Published - 6 Dec 2018 |
Event | 2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, ISMSIT 2018 - Kizilcahamam, Ankara, Turkey Duration: 19 Oct 2018 → 21 Oct 2018 |
Publication series
Name | ISMSIT 2018 - 2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, Proceedings |
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Conference
Conference | 2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, ISMSIT 2018 |
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Country/Territory | Turkey |
City | Kizilcahamam, Ankara |
Period | 19/10/18 → 21/10/18 |
Bibliographical note
Publisher Copyright:© 2018 IEEE.
Keywords
- Backstepping Control
- Cart-Pendulum
- Disturbance Attenuation
- Immersion and Invariance