In this work, mechanisms for reducing chattering in a sliding mode controller (SMC) for the ball and plate system was developed. A Smoothed Sliding Mode Control (SSMC) scheme was first of all employed for reducing the chattering by replacing the signum function of the SMC with saturation function. Then, a Recurrent Elman Neural Network (RENN) was developed for optimal determination of the switching gain of the SSMC for the purpose of further reduction in chattering. Other variant of SMC developed with a view to further reduction in chattering is Smoothed Super Twisting SMC (SSTSMC). The results from each of the approaches were compared in terms of amplitude of chattering. The best variants were the RENNOSSMC and SSTSMC where the 0.07 m amplitude of chattering in the classical SMC was reduced to approximately 0. In this work, a double feedback loop was designed for the control of ball and plate system, where the inner loop was designed with proportional plus integral plus derivative (PID) controller to control the inner loop actuator. While, the outer loop of the system that controls the position of the ball on the plate was designed with the variants of the SMC in Matlab/Simulink environment.

Methods of Chattering Reduction in Sliding Mode Control: A Case Study of Ball and Plate System

This paper presents a new design procedure of an optimal nonlinear controller using the model reference approach. The ball and plate system is used as nonlinear, uncertain, and MIMO system to verify the effectiveness of the proposed controller. The main goal of the proposed design is to assure a desirable performance despite the presence of the coupling among control loops and uncertainty. The invasive weed optimization (IWO) method, which is one of the metaheuristic optimization algorithms, is used to obtain the optimal parameters of the proposed controller. The feasibility and efficiency of the proposed nonlinear controller are illustrated experimentally using real ball and plate system.

Optimal Nonlinear Model Reference Controller Design for Ball and Plate System

The Ball Balancer System (BBS) is a 2-DOF system with visual feedback. BBS has broad applications in the field of automotive industry, defense and communication antenna’s automation. The accurate trajectory tracking in BBS has always been challenging for researchers. The proposed method focuses on designing the robust Fuzzy-tuned PD (FPD) controller having better error tracking and least oscillation of the ball in varying lighting conditions. The PD parameters, i.e., K p and K d are calculated by using the Fuzzy rules. Furthermore, the Blob analysis algorithm is proposed which can detect the ball even in changing lighting conditions. The proposed method is compared with widely used techniques, i.e., color-based segmentation and PD controller. The rectangular trajectory is achieved using Blob analysis embedded with FPD, whose results are compared with the PD controller combined with color based segmentation technique. The proposed method gave promising results.

CCD Camera-Based Ball Balancer System with Fuzzy PD Control in Varying Light Conditions

The manual tuning of controller parameters, for example, tuning proportional integral derivative (PID) gains often relies on tedious human engineering. To curb the aforementioned problem, we propos...

https://www.tandfonline.com/doi/pdf/10.1080/24751839.2020.1833137

Heuristic and deep reinforcement learning-based PID control of trajectory tracking in a ball-and-plate system

An H ∞ tracking control method is proposed for ball and plate systems with external disturbances. The H ∞ tracking controller for a ball and plate system is designed by combining H ∞ control theory with backstepping technique. The designed controller can ensure that the ball and plate system can track precisely the desired trajectories, all the signals in the closed-loop system are asymptotically stable, and the system has robust H ∞ disturbance attenuation performance for external disturbances. In the end, a simulation experiment is given to prove the feasibility of the proposed control method.

Backstepping-based Robust H ∞ Tracking Controller Design for Ball and Plate System

This paper uses weighted Artificial Fish Swarm Algorithm to optimally tune the parameters of a PID controller The PID is applied to trajectory tracking control of a ball on plate system and its good control performance is verified by simulation examples The inherent challenges associated with this system render it suitable for testing various control schemes In this paper, Euler-Lagrange technique was adopted for obtaining the model of the system Then, the optimal PID controllers in dual feedback loop were used for controlling the system Simulation of the system was achieved in MATLAB 2015, and unit step response of the system along x-Axis shows a good performance Also, the ball was able to track a reference circular trajectory however, with a tracking error of 00132 m

S. U. Hussein

Papers

Trajectory tracking control of ball on plate system using weighted Artificial Fish Swarm Algorithm based PID