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This paper proposes a position tracking control scheme for the ball and plate system. At first, the property of the ball and plate control system is analyzed, and the path tracking control problem is divided into subproblems of ball position control and plate angle control. Afterwards, a path tracking sliding mode control algorithm is proposed for the ball position control based on dynamic model of the ball motion system and basic principle of sliding mode control, asymptotical stability of the close-loop system is proved mathematically through Lyapunov stability theory as well. The proposed sliding mode control algorithm eliminates the effect of time-varying uncertain friction while the ball is rolling on the plate surface, and thus the path tracking precision is improved. Finally, control performance of the proposed sliding mode control algorithm is validated by simulation experiment.
Informatics in Control, Automation and Robotics (CAR), 2010 2nd International Asia Conference on (Volume:3 )
Date of Conference: 6-7 March 2010