Abstract
Sliding mode control, one of the tools available to design robust controllers, is introduced in the outer loop of a double-loop feedback control of the Ball and Plate (B&P) system. Fuzzy Logic is used to attenuate the chattering introduced by Sliding mode control. Genetic algorithm is implemented to determine the parameters of the fuzzy system in an optimal manner. Linear algebraic method is used to design an inner loop angle controller by solving a set of Diophantine equations. The mathematical model of the B&P system, obtained from Euler-Lagrange Equations of Motion, of the proposed controller is evaluated through simulation studies. Simulation results show that the ball could be stabilized anywhere on the plate in 3.5 seconds and it could also track a circular trajectory of 0.4 m radius at 0.8 rad/s in 10 seconds without significant chattering.
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Negash, A., Singh, N.P. (2015). Position Control and Tracking of Ball and Plate System Using Fuzzy Sliding Mode Controller. In: Abraham, A., Krömer, P., Snasel, V. (eds) Afro-European Conference for Industrial Advancement. Advances in Intelligent Systems and Computing, vol 334. Springer, Cham. https://doi.org/10.1007/978-3-319-13572-4_10
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DOI: https://doi.org/10.1007/978-3-319-13572-4_10
Publisher Name: Springer, Cham
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