Fuzzy-PID tracking control of a ball and plate system using a 6 Degrees-of-Freedom parallel robot

Three controllers are designed to stabilize a ball on plate using a 6 Degrees-of-Freedom (6-DOF) parallel robot. The ball and plate is a nonlinear system and has an under-actuated feature increasing the difficulty of its control. Therefore, conventional controllers are not recommended to stabilize this kind of system, it requires, fast, precise and reliable controllers. The mathematical description of the ball and plate is derived and the simplified model is obtained. The inverse kinematics are performed to control the six servo motors angles which are tested on a designed Stewart platform in SolidWorks and implemented in Matlab software. A comparison between fuzzy-PID, PID, and fuzzy controller in a double loop feedback scheme is proposed to deal with this system. Simulation results show that the proposed fuzzy-PID control design could control the ball on a 6-DOF Stewart platform with a small settling time and insignificant tracking error.