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Title: Control design and robustness analysis of a ball and plate system by using polynomial chaos

In this paper, we present a mathematical model of a ball and plate system, a control law and analyze its robustness properties by using the polynomial chaos method. The ball rolls without slipping. There is an auxiliary robot vision system that determines the bodies' positions and velocities, and is used for control purposes. The actuators are to orthogonal DC motors, that changes the plate's angles with the ground. The model is a extension of the ball and beam system and is highly nonlinear. The system is decoupled in two independent equations for coordinates x and y. Finally, the resulting nonlinear closed loop systems are analyzed by the polynomial chaos methodology, which considers that some system parameters are random variables, and generates statistical data that can be used in the robustness analysis.
Authors:
 [1] ;  [2] ;  [3] ; ;  [4] ;  [5]
  1. University of São Paulo, Polytechnic School, LAC -PTC, São Paulo (Brazil)
  2. São Paulo State University - Rio Claro Campus, Rio Claro (Brazil)
  3. São Paulo State University - Bauru Campus, Bauru (Brazil)
  4. São Paulo State University - Sorocaba Campus, Sorocaba (Brazil)
  5. University of Brasilia, Brasilia (Brazil)
Publication Date:
OSTI Identifier:
22390782
Resource Type:
Journal Article
Resource Relation:
Journal Name: AIP Conference Proceedings; Journal Volume: 1637; Journal Issue: 1; Conference: ICNPAA 2014: 10. International Conference on Mathematical Problems in Engineering, Aerospace and Sciences, Narvik (Norway), 15-18 Jul 2014; Other Information: (c) 2014 AIP Publishing LLC; Country of input: International Atomic Energy Agency (IAEA)
Country of Publication:
United States
Language:
English
Subject:
71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSICS; ACTUATORS; CHAOS THEORY; CONTROL; COORDINATES; MATHEMATICAL MODELS; MOTORS; NONLINEAR PROBLEMS; PLATES; POLYNOMIALS; RANDOMNESS; ROBOTS; VELOCITY