Mechatronic design of a ball-on-plate balancing system

Awtar, Shorya; Bernard, C.; Boklund, N.; Master, A.; Ueda, Daisuke; Craig, Kevin

doi:10.1016/s0957-4158(01)00062-9

Cited by 106 publications

(53 citation statements)

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“…A mechatronic design is a combination of mechanical engineering, electronics, control systems and computers (Awtar et al, 2002). Thus, an important aspect when developing a mechatronic device is the control system.…”

Section: Dynamic Modelmentioning

confidence: 99%

“…Moreover, they are prone to noise in the measurements and the unmodeled dynamics, see (García de Jalón and Bayo, 1994). Thus, a methodology previously developed by the authors (Awtar et al, 2002) has been used in order to identify the dynamic model.…”

Section: Dynamic Modelmentioning

confidence: 99%

“…However, in order to identify the dynamic parameters, the model in linear parameter form has to be build first as follows as in (Díaz-Rodriguez et al, 2010), (Awtar et al, 2002),…”

Section: Dynamic Modelmentioning

confidence: 99%

See 2 more Smart Citations

Mechatronic Development and Dynamic Control of a 3-DOF Parallel Manipulator

Vallés

Díaz‐Rodríguez

Valera

et al. 2012

Mechanics Based Design of Structures and Machines

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Section: Dynamic Modelmentioning

confidence: 99%

Section: Dynamic Modelmentioning

confidence: 99%

See 1 more Smart Citation

Mechatronic Development and Dynamic Control of a 3-DOF Parallel Manipulator

Vallés

Díaz‐Rodríguez

Valera

et al. 2012

Mechanics Based Design of Structures and Machines

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show abstract

“…Moreover, because of its inherent nonlinearity, instability, and underactuation, this system is widely used as a test bed for verifying the performance and effectiveness of new control algorithms or technology. Several aspects of mechatronic design, implementation, and control of a ball and plate system have been investigated in the literature [1][2][3][4][5][6][7][8][9][10]. In existing studies, the control design has usually been based on the simplified model of the ball and plate system, and derivation of a detailed dynamic model has received far less attention.…”

Section: Introductionmentioning

confidence: 99%

“…In existing studies, the control design has usually been based on the simplified model of the ball and plate system, and derivation of a detailed dynamic model has received far less attention. Based on the model linearized with respect to the equilibrium, [1] designed a PID controller and lead controller to stabilize the system. In [3,7], a nonlinear simplified model was given, and a sliding mode control was used to achieve trajectory tracking.…”

Section: Introductionmentioning

confidence: 99%

Visual Servoing Tracking Control of a Ball and Plate System: Design, Implementation and Experimental Validation

Rizal

Chu

2013

International Journal of Advanced Robotic Systems

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This paper presents the design, implementation and validation of real-time visual servoing tracking control for a ball and plate system. The position of the ball is measured with a machine vision system. The image processing algorithms of the machine vision system are pipelined and implemented on a field programmable gate array (FPGA) device to meet realtime constraints. A detailed dynamic model of the system is derived for the simulation study.By neglecting the high-order coupling terms, the ball and plate system model is simplified into two decoupled ball and beam systems, and an approximate inputoutput feedback linearization approach is then used to design the controller for trajectory tracking. The designed control law is implemented on a digital signal processor (DSP). The validity of the performance of the developed control system is investigated through simulation and experimental studies. Experimental results show that the designed system functions well with reasonable agreement with simulations.

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On disturbance rejection control for nonlinear three‐revolute prismatic spherical ball and plate systems

2021

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The three‐revolute prismatic spherical ball and plate system (BP) is a typical complex nonlinear uncertain system involving axial coupling, friction, and other nonlinear factors. It is difficult to identify the model for each factor and isolate its effect from other factors. In addition to such challenge, the measurement noise, which is beyond the capability of many traditional closed‐loop control methods, exists in the system. For this reason, an active disturbance‐rejection control scheme combining linear tracking differentiator is presented to tackle the problems in the BP system. The simulation and real system test are conducted in response to point‐to‐point trajectories, circular and rectangular loci. The results demonstrate that fast response with small steady error can be achieved by the proposed control method.GTOC:The paper provide an active disturbance‐rejection control scheme combining linear tracking differentiator for the BP system control, The simulation and real system test demonstrate that fast response with small steady error can be achieved by the proposed control method.

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Mechatronic design of a ball-on-plate balancing system

Cited by 106 publications

References 0 publications

Mechatronic Development and Dynamic Control of a 3-DOF Parallel Manipulator

Mechatronic Development and Dynamic Control of a 3-DOF Parallel Manipulator

Visual Servoing Tracking Control of a Ball and Plate System: Design, Implementation and Experimental Validation

On disturbance rejection control for nonlinear three‐revolute prismatic spherical ball and plate systems

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