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 |
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University of Baghdad
2017-05-01
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| Series: | Journal of Engineering |
| Subjects: | |
| Online Access: | http://joe.uobaghdad.edu.iq/index.php/main/article/view/34 |
| _version_ | 1827848736183681024 |
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| author | Laith Jasim Saud, Ass. Prof. Dr. Marwa Mohammed Alwan, MSc student |
| author_facet | Laith Jasim Saud, Ass. Prof. Dr. Marwa Mohammed Alwan, MSc student |
| author_sort | Laith Jasim Saud, Ass. Prof. Dr. |
| 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 | 2024-03-12T09:52:10Z |
| format | Article |
| id | doaj.art-5d5c5940468744c8b9629c827d8e1b3b |
| institution | Directory Open Access Journal |
| issn | 1726-4073 2520-3339 |
| language | English |
| last_indexed | 2024-03-12T09:52:10Z |
| publishDate | 2017-05-01 |
| publisher | University of Baghdad |
| record_format | Article |
| series | Journal of Engineering |
| spelling | doaj.art-5d5c5940468744c8b9629c827d8e1b3b2023-09-02T12:25:41ZengUniversity of BaghdadJournal of Engineering1726-40732520-33392017-05-01236Design and Implementation of Classical Sliding Mode Controller for Ball and Plate SystemLaith Jasim Saud, Ass. Prof. Dr.0Marwa Mohammed Alwan, MSc student1Control and Systems Eng. Dep. - University of TechnologyControl & Systems Eng. Dept. University of TechnologyBall 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.http://joe.uobaghdad.edu.iq/index.php/main/article/view/34Ball and Plate, Sliding Mode Controller, Arduino. |
| spellingShingle | Laith Jasim Saud, Ass. Prof. Dr. Marwa Mohammed Alwan, MSc student Design and Implementation of Classical Sliding Mode Controller for Ball and Plate System Journal of Engineering Ball and Plate, Sliding Mode Controller, Arduino. |
| 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 |
| topic | Ball and Plate, Sliding Mode Controller, Arduino. |
| url | http://joe.uobaghdad.edu.iq/index.php/main/article/view/34 |
| work_keys_str_mv | AT laithjasimsaudassprofdr designandimplementationofclassicalslidingmodecontrollerforballandplatesystem AT marwamohammedalwanmscstudent designandimplementationofclassicalslidingmodecontrollerforballandplatesystem |