Publicação: CONTROL DESIGN AND ROBUSTNESS ANALYSIS OF A BALL AND PLATE SYSTEM BY USING POLYNOMIAL CHAOS
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Amer Inst Physics
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Resumo
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.
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Robust Control, Polynomial Chaos, Air Heating
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Inglês
Como citar
10th International Conference On Mathematical Problems In Engineering, Aerospace And Sciences (icnpaa 2014). Melville: Amer Inst Physics, v. 1637, p. 226-234, 2014.
