| Popis: |
Ball and plate system is a typical under-actuated system with inherent nonlinearity. Motion control of the system included the set-point problem and the tracking problem along desired trajectory. A supervisory fuzzy controller was proposed for studying these problems, which was composed of two layers. The low layer defined a SIRM fuzzy rule and an importance degree for each input item, and the high layer performed supervisory task for ball's velocity and acceleration. When the ball was close to halt, or at high velocity, the supervisory fuzzy controller can overcome disturbance. We implemented this controller to ball and plate system setup in author's laboratory. The experiment results showed little steady-state error and good transient performance than conventional fuzzy controller. Therefore, the control scheme is proposed feasible, and acquired conclusion can be used to investigate similar nonlinear under- actuated dynamics system. |
