Backstepping adaptive dynamical sliding mode control method for ball and plate system

Abstract

An adaptive dynamic sliding mode control method is proposed for the tracking of the expected trajectory of the ball and plate system. Considering the unpredictability of the external disturbance and the uncertainty in the actual situation,it combines with the adaptive control to estimate the unknown boundary. In order to effectively weaken the dependence on the mathematical model, the dynamic surface strategy is introduced to avoid the phenomenon of differential big explosion in inversion method. Considering whether there are any external uncertainties, the two experimental environments are divided into two kinds of experimental environment, and the simulation experiment is carried out using the method of this paper and the method of dynamic sliding mode. The simulation results show that the designed controller is not sensitive to system parameter perturbation and external disturbance.The method can realize the trajectory tracking of the ball well, and has good dynamic tracking performance, which shows strong robustness and adaptive characteristics.

Keywords

• ball and plate system
• sliding-mode variable structure
• trajectory tracking
• stability analysis
• adaptive