Tracking Control of Ball and Plate System with a Double Feedback Loop Structure

Wang, Hongrui; Tian, Yantao; Sui, Zhen; Zhang, Xuefei; Ding, Ce

doi:10.1109/icma.2007.4303704

Cited by 38 publications

(12 citation statements)

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“…El sistema bola y viga tradicionalmente se implementa teniendo como actuador un motor [3], sin embargo, en este trabajo, al igual que en [4], se genera el torque a través de un actuador magné-tico, el cual está compuesto por dos núcleos ferromagnéticos en forma de E, con una bobina por núcleo como se muestra en la Fig. 3.…”

Section: Metodologíaunclassified

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Control de posición de un sistema bola y viga con actuadores magnéticos

López

Monroy

Antolines

2012

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RESUMENEn este artículo se realiza un control de doble lazo para el sistema bola y viga con actuadores magnéticos, además, se presenta el diseño y la construcción del prototipo correspondiente. El control se hace en tiempo real, por medio de una tarjeta de adquisición de datos y Simulink, mediante los cuales se implementan ¿ ltros y se linealizan las señales de cuatro sensores. De otra parte, se crean los algoritmos de control para los lazos, uno, de inclinación de la viga, y dos, de posición de la bola. Se trabajan dos alternativas para la estrategia de control del lazo interno, éstas son: un PID con ganancias ¿ jas y otro con variables. Este último entrega un mejor resultado y además permite obtener un modelo del sistema, mientras que en el lazo externo (el cual se encarga de la posición de la bola), se trabaja con un PID tradicional. La experimentación con el prototipo construido muestra que no es fácil lograr la estabilización del lazo externo, debido a la latencia del actuador magnético. Control de posición de un sistema bola y viga con actuadores magnéticosPosition control ball and beam system with magnetic actuator FRANCY LÓPEZ Tecnóloga en electricidad, investigadora de la Universidad Distrital Francisco José de Caldas. Bogotá, Colombia.

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Section: Metodologíaunclassified

“…La variable de corrección generada por el controlador externo sirve como entrada al controlador interno, de la misma forma en que se explica en [3]. El lazo interno se encarga de ¿ jar el ángulo de inclinación de la viga.…”

Section: Introductionunclassified

Control de posición de un sistema bola y viga con actuadores magnéticos

López

Monroy

Antolines

2012

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“…Hongrui Wang [1], [8], [12] contributed a double feedback loop structure for tracking control of the ball and plate system. Jari Kostamo [2] developed a ball balancing device, in which a ball was able to balance in the middle of a convex surface.…”

Section: Introductionmentioning

confidence: 99%

A control system of a ping-pong robot arm based on fuzzy method

Shao-li

et al. 2011

2011 IEEE International Conference on Mechatronics and Automation

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this paper presents a 6-revolutional degree of freedoms (DOFs) low-cost arm of a ping-pong robot driven by 6 actuators. Design, control, simulation and performance of this arm are examined in this paper. The task in this study is to make the ping-pong ball stay in the racket at a balanced location. The arm comprises three main components, a three DOFs arm, a spherical wrist, and a ping-pong racket. A key design goal of the control is the timeliness: controller has to meet the requirements of the real-time operation speed. Therefore, to enhance the speed of calculation and reduce the cost, the arm manipulating control has been implemented based on fuzzy algorithm and is accomplished using an ATmega128 MCU, which is able to calculate the angular position of joints real-time. Infrared touch screen is installed as a sensor to automatically obtain the position of the ball, according to which controller adjusts the orientation of the wrist in order to keep the ball in racket. Experimental results illustrate the efficacy in the arm and racket system.

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“…Those few published papers on the BnP system are mainly devoted to achieve the defined goals regarding the BnP itself rather than how to achieve those goals [3,4,5,8,9]. They can be categorized into two main groups: those which are based on mathematical modeling (with or without hardware implementation), those proposing model-free controllers.…”

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confidence: 99%

“…Since the simplification in the mathematical modeling of the BnP system yields two separate BnB systems, the first category is goal-oriented and is of no interest for the current project [4,5]. On the other hand, the hardware apparatus used in the second category is CE151 [6] (or in some rare cases another apparatus [9]) which all use image feedback for ball position sensing. However, among all, [5] is devoted to a mechatronic design of the BnP system controlled by a classic model-based which benefits a touch-sensor feedback and [3,4] used the CE151 apparatus.…”

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confidence: 99%

A Reinforcement Learning Fuzzy Controller for the Ball and Plate system

Mohajerin

Menhaj

Doustmohammadi

2010

International Conference on Fuzzy Systems

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In this paper, a new fuzzy logic controller, namely Reinforcement Learning Fuzzy Controller (RLFC), is proposed and implemented. Based on fuzzy logic, this newly proposed online-learning controller is capable of improving its behavior by learning from experiences it gains through interaction with the plant. RLFC is well established for hardware implementation with or without a priori knowledge about the plant. To evidence this claim, a hardware implementation of Ball and Plate system was established, and RLFC was then developed and applied to it. The obtained results are illustrated in this paper. Index Terms-Fuzzy Logic Controller, Reinforcement Learning, Ball and Plate system, Balancing Systems, Model-free optimization I. INTRODUCTIONALANCING systems are one of the most popular and challenging test platforms for control engineers. Such systems are the traditional cart-pole system (inverted pendulum), the ball and beam (BnB) system, the multiple inverted pendulums, the ball and plate system (BnP), etc. These systems are the promising test-benches for investigating the performance of both model-free and model-based controllers. Considering those complicated ones (such as multiple inverted pendulums or BnP) even if one bothers to mathematically model them, the resulted model is likely to be too complicated to be used in a model-based design. One would highly prefer to use an implemented version of such a system (if available and not risky) and observe its behavior while the proposed controller is applied to it. This paper is devoted to the efforts done for a project in which the main goal is to control a ball over a flat rotary surface (the plate) mimicking human's behavior controlling the same plant, i.e. the BnP system. The proposed controller neither should be dependent on any physical characteristics of the BnP system nor should it be supervised by an expert. It should learn an optimal behavior from its experiences interacting with the BnP system and improve its action-generation strategy; however, some prior knowledge about the overall behavior of the BnP

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Tracking Control of Ball and Plate System with a Double Feedback Loop Structure

Cited by 38 publications

References 10 publications

Control de posición de un sistema bola y viga con actuadores magnéticos

Control de posición de un sistema bola y viga con actuadores magnéticos

A control system of a ping-pong robot arm based on fuzzy method

A Reinforcement Learning Fuzzy Controller for the Ball and Plate system

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