Adaptive control of ball and beam system using SNA-PID combined with recurrent fuzzy neural network identifier

Abstract

The ball and beam system is a nonlinear and inherently unstable single input, multiple-output (SIMO) system, which poses significant challenges for control design. Intelligent control algorithms are often applied to autonomously control complex systems when there are changes in parameters or the control environment. Therefore, in this paper, we research and develop two methods: proportional integral derivative (PID) and single neuron adaptive (SNA)-PID-recurrent fuzzy neural network identifier (RFNNI) to control the ball and beam system. Simulation results on MATLAB/Simulink show that the SNA-PID-RFNNI controller provides a more stable output signal than the traditional PID controller, with minimal overshoot and a settling time of about 15 seconds. Next, we will conduct real-time experiments on the object using the proposed algorithm through the MEGA2560 control board with an ultrasonic positioning mechanism.