吉林大学学报(工学版) ›› 2014, Vol. 44 ›› Issue (3): 718-725.doi: 10.13229/j.cnki.jdxbgxb201403023

• Orignal Article • Previous Articles     Next Articles

Adaptive decoupled sliding mode control for the ball and plate system

HAN Kyong-won1,2, TIAN Yan-tao1,3, KONG Yong-su4, ZHANG Ying-hui1, LI Jin-song1   

  1. 1.College of Communication Engineering, Jilin University, Changchun 130022, China;
    2.Department of Control Science,University of Science, Pyongyang 526890, DPRK;
    3.Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, China;
    4. College of Mechanical Science and Engineering, Jilin University, Changchun 130022, China
  • Received:2013-03-20 Online:2014-03-01 Published:2014-03-01

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Abstract: A design method of decoupling adaptive sliding mode controller unsing integrated factor is proposed for trajectory tracking and stabilization control of the Ball and Plate System (BPS). In this approach, the nonlinear system is decomposed to four subsystems and the state response of each subsystem is designed by a corresponding sliding surface. In the design, the integrated factor is adopted to combine the sliding surface, which is decided by an adaptive fuzzy algorithm based on the Lyapunov stability theory. Thus the stability of the system is guaranteed and the complex calculation is avoided. The proposed design method is applied to investigate Ball and Plate Vision System. The simulation results demonstrate that the proposed approach is effective in resolving the stabilization control and trajectory tracking control tasks of nonlinear and under-actuated system with uncertain terms.

Key words: automatic technology, ball and plate system, sliding mode, adaptive fuzzy control, stabilization control, trajectory tracking control

CLC Number: 

  • TP273
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