Trajectory tracking and obstacle avoidance of a ball and plate system using fuzzy theory

Author

Rastin, M. Ali ; Moosavian, S.A.A. ; Talebzadeh, Erfan ; Alaeddin, Mojtaba

Author_Institution

Dept. of Mech. Eng., K.N. Toosi Univ. of Technol., Tehran, Iran

fYear

2013

fDate

27-29 Aug. 2013

Firstpage

1

Lastpage

5

Abstract

Ball and plate platform is a nonlinear and underactuated plant. The plate is assumed to be the end-effector of a 3RRS parallel mechanism. By tilting the plate, the ball in opposite direction is pushed. The system of equation is achieved using Lagrange method. In this article, a fuzzy approach is proposed to control the ball on a given path. It consists of two level TS type fuzzy controller; the first level tries to lead the ball to the desired goal, and the second one prevents collision between the ball and obstacles.

Keywords

collision avoidance; end effectors; fuzzy control; fuzzy set theory; nonlinear control systems; trajectory control; 3RRS parallel mechanism; Lagrange method; TS type fuzzy controller; ball and plate platform; ball and plate system; ball control; end-effector; fuzzy approach; fuzzy theory; nonlinear plant; obstacle avoidance; obstacle collisiion; trajectory tracking; underactuated plant; Ball and Plate System; Fuzzy Control; Obstacle Avoidance; Trajectory Tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems (IFSC), 2013 13th Iranian Conference on

Conference_Location

Qazvin

Print_ISBN

978-1-4799-1227-8

Type

conf

DOI

10.1109/IFSC.2013.6675631

Filename

6675631