Discrete-time Backstepping Control for Cart-Pendulum System with Disturbance Attenuation via II Disturbance Estimation

Fatih Adiguzel, Yaprak Yalcin

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Citations (Scopus)

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 languageEnglish
Title of host publicationISMSIT 2018 - 2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538641842
DOIs
Publication statusPublished - 6 Dec 2018
Event2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, ISMSIT 2018 - Kizilcahamam, Ankara, Turkey
Duration: 19 Oct 201821 Oct 2018

Publication series

NameISMSIT 2018 - 2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, Proceedings

Conference

Conference2nd International Symposium on Multidisciplinary Studies and Innovative Technologies, ISMSIT 2018
Country/TerritoryTurkey
CityKizilcahamam, Ankara
Period19/10/1821/10/18

Bibliographical note

Publisher Copyright:
© 2018 IEEE.

Keywords

  • Backstepping Control
  • Cart-Pendulum
  • Disturbance Attenuation
  • Immersion and Invariance

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