Design and Implementation of Classical Sliding Mode Controller for Ball and Plate System
Ball and Plate (B&P) system is a benchmark system in the control engineering field that has been used to verify many control methods. In this paper the design of a sliding mode . controller has been investigated and verified in real-time via implementation on a real ball and plate system hardwar...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
University of Baghdad
2017-06-01
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| Series: | Journal of Engineering |
| Online Access: | https://www.jcoeng.edu.iq/index.php/main/article/view/34/25 |
| _version_ | 1797709938244452352 |
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| author | Laith Jasim Saud Marwa Mohammed Alwan |
| author_facet | Laith Jasim Saud Marwa Mohammed Alwan |
| author_sort | Laith Jasim Saud |
| collection | DOAJ |
| description | Ball and Plate (B&P) system is a benchmark system in the control engineering field that has been used to verify many control methods. In this paper the design of a sliding mode . controller has been investigated and verified in real-time via implementation on a real ball and plate system hardware. The mathematical model has been derived and the necessary parameters have been measured. The sliding mode controller has been designed based on the obtained mathematical model. The resulting controller has been implemented using the Arduino Mega 2560 and a ball and plate system built completely from scratch. The Arduino has been programmed by the Arduino support target for Simulink. Three test signals has been used for verification purposes, namely: single point stabilizing, circular trajectory tracking, and square trajectory tracking. The results obtained have shown that sliding mode controller is able to follow the desired test signals with low error. |
| first_indexed | 2024-03-12T06:45:03Z |
| format | Article |
| id | doaj.art-48c61a7d2dbd48dd98f99e1c30688c78 |
| institution | Directory Open Access Journal |
| issn | 1726-4073 2520-3339 |
| language | English |
| last_indexed | 2024-03-12T06:45:03Z |
| publishDate | 2017-06-01 |
| publisher | University of Baghdad |
| record_format | Article |
| series | Journal of Engineering |
| spelling | doaj.art-48c61a7d2dbd48dd98f99e1c30688c782023-09-03T00:38:47ZengUniversity of BaghdadJournal of Engineering1726-40732520-33392017-06-012367492Design and Implementation of Classical Sliding Mode Controller for Ball and Plate SystemLaith Jasim SaudMarwa Mohammed AlwanBall and Plate (B&P) system is a benchmark system in the control engineering field that has been used to verify many control methods. In this paper the design of a sliding mode . controller has been investigated and verified in real-time via implementation on a real ball and plate system hardware. The mathematical model has been derived and the necessary parameters have been measured. The sliding mode controller has been designed based on the obtained mathematical model. The resulting controller has been implemented using the Arduino Mega 2560 and a ball and plate system built completely from scratch. The Arduino has been programmed by the Arduino support target for Simulink. Three test signals has been used for verification purposes, namely: single point stabilizing, circular trajectory tracking, and square trajectory tracking. The results obtained have shown that sliding mode controller is able to follow the desired test signals with low error.https://www.jcoeng.edu.iq/index.php/main/article/view/34/25 |
| spellingShingle | Laith Jasim Saud Marwa Mohammed Alwan Design and Implementation of Classical Sliding Mode Controller for Ball and Plate System Journal of Engineering |
| title | Design and Implementation of Classical Sliding Mode Controller for Ball and Plate System |
| title_full | Design and Implementation of Classical Sliding Mode Controller for Ball and Plate System |
| title_fullStr | Design and Implementation of Classical Sliding Mode Controller for Ball and Plate System |
| title_full_unstemmed | Design and Implementation of Classical Sliding Mode Controller for Ball and Plate System |
| title_short | Design and Implementation of Classical Sliding Mode Controller for Ball and Plate System |
| title_sort | design and implementation of classical sliding mode controller for ball and plate system |
| url | https://www.jcoeng.edu.iq/index.php/main/article/view/34/25 |
| work_keys_str_mv | AT laithjasimsaud designandimplementationofclassicalslidingmodecontrollerforballandplatesystem AT marwamohammedalwan designandimplementationofclassicalslidingmodecontrollerforballandplatesystem |