Robust Flatness-Based Trajectory Tracking Control for the Ball and Plate System

Authors

  • Lucas M. Gomes Automation and Control Group (GRACO), Department of Mechanical Engineering, University of Brasília, Brasília, DF, Brazil.
  • Matheus T. de Sousa Automation and Control Group (GRACO), Department of Mechanical Engineering, University of Brasília, Brasília, DF, Brazil.
  • José Oniram de A. Limaverde Filho Automation and Control Group (GRACO), Department of Mechanical Engineering, University of Brasília, Brasília, DF, Brazil.
  • Eugênio L. F. Fortaleza Automation and Control Group (GRACO), Department of Mechanical Engineering, University of Brasília, Brasília, DF, Brazil.

Keywords:

Trajectory tracking, Differential flatness theory, Disturbance rejection, Parametric uncertainty, Ball and plate system

Abstract

The ball and plate system serves as a popular nonlinear benchmark system in control engineering. In this paper, a robust flatness-based nonlinear control strategy combined with an integral action is proposed to address the trajectory tracking problem for a ball and beam system, considering the influence of unknown external input disturbances and parametric uncertainty. The main idea is to design a control law for the system linearized around the nominal trajectories to guarantee asymptotic convergence of trajectory tracking error to zero. The efficiency and robustness of the proposed control scheme are demonstrated through numerical simulations for different output references.

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Published

2024-10-18

Issue

Vol. 4 No. 1 (2024): CBA2024

Section

Articles