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Zero Steady-state Error Tracking Control for Ball and Plate System Based on Principle of Internal Model

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  • Control Theory and Applications
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Abstract

In order to improve trajectory tracking accuracy and disturbance-rejection performance of the ball and plate system, a zero steady-state error tracking control strategy based on the principle of internal mode was proposed, and the backstepping controller with a low-pass filter was designed to suppress the system’s internal disturbance. Firstly, a linear model of the ball and plate system is established and the common instability model for reference input and disturbance signals is derived. Secondly, the zero steady-state error tracking control strategy composed of three controllers which have respective function is proposed. Thirdly, the solving procedure of each controller is given and the stability of the closed-loop system is guaranteed by Lyapunov stability theory. Finally, simulation results show the presented control scheme has better dynamic performance and disturbance rejection ability, compared with other methods including H∞ control, sliding mode control, and LQR control.

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Authors and Affiliations

  1. School of Information and Control Engineering, Jilin University of Chemical Technology, Jilin, 132022, China

    Guang-Xin Han, Sheng-Jun Meng & Dong-Dong Huang

  2. School of Communication Engineering, Jilin University, Changchun, 130025, China

    Yun-Feng Hu

Authors
  1. Guang-Xin Han
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  2. Sheng-Jun Meng
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  3. Dong-Dong Huang
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  4. Yun-Feng Hu
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Correspondence to Guang-Xin Han.

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Guang-Xin Han received his M.S. and Ph.D. degrees in control theory and engineering from Jilin University, in 2002 and 2009, respectively. He is currently a Professor with the College of Information and Control Engineering in the Jilin Institute of Chemical Technology. His current research interests include nonlinear control, constrained system control, and wheeled mobile robot control.

Sheng-Jun Meng received his B.E. degree in engineering from Langfang Normal University, in 2019. He is currently studying for an M.S. degree in Jilin University of Chemical Technology. His current research interests include trajectory tracking control and backstepping control for ball and plate system.

Dong-Dong Huang received his B.E. degree in engineering from Changzhou Institute of Technology, in 2016. He is currently studying for an M.S. degree in Jilin University of Chemical Technology. His current research interests include optimal control of multi-capacity coupled tank level systems, optimal control of industrial processes, and intelligent control.

Yun-Feng Hu received his M.S. degree in basic mathematics and a Ph.D. degree in control theory and control engineering from Jilin University, Changchun, China, in 2008 and 2012, respectively. He is currently an Associate Professor with the Department of Control Science and Engineering, Jilin University. His current research interests include nonlinear control and automotive control.

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Han, GX., Meng, SJ., Huang, DD. et al. Zero Steady-state Error Tracking Control for Ball and Plate System Based on Principle of Internal Model. Int. J. Control Autom. Syst. 21, 890–899 (2023). https://doi.org/10.1007/s12555-021-0138-5

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  • DOI: https://doi.org/10.1007/s12555-021-0138-5

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