Research on Trajectory Tracking of Ball-and-Plate System Based on Supervisory Fuzzy Control

This paper introduces a ball-and-plate system developed in authors' laboratory. A fuzzy supervisory controller with multilayer control structure is designed aiming at the trajectory tracking problem. Practical experiments are carried out using a circle track and a square track to prove the validity of the fuzzy supervisory controller. The experimental results show that the controller can make the ball moving along given tracks exactly and steadily.