Digital Library of the European Council for Modelling and Simulation

Title:	Ball & Plate Model For Robotic System
Authors:	Lubos Spacek, Jiri Vojtesek, Frantisek Gazdos, Tomas Kadavy
Published in:	(2018). ECMS 2018 Proceedings Edited by: Lars Nolle, Alexandra Burger, Christoph Tholen, Jens Werner, Jens Wellhausen European Council for Modeling and Simulation. doi: 10.7148/2018-0005 ISSN: 2522-2422 (ONLINE) ISSN: 2522-2414 (PRINT) ISSN: 2522-2430 (CD-ROM) 32nd European Conference on Modelling and Simulation, Wilhelmshaven, Germany, May 22^nd – May 26^5h, 2018
Citation format:	Lubos Spacek, Jiri Vojtesek, Frantisek Gazdos, Tomas Kadavy (2018). Ball & Plate Model For Robotic System, ECMS 2018 Proceedings Edited by: Lars Nolle, Alexandra Burger, Christoph Tholen, Jens Werner, Jens Wellhausen European Council for Modeling and Simulation. doi: 10.7148/2018-0226
DOI:	https://doi.org/10.7148/2018-0226
Abstract:	There are many solutions to control Ball & Plate model, ranging from hobby projects to more advanced control. This paper brings a new idea of control using robotic manipulator. This is quite challenging because indus-trial robots are not originally designed as a motion system for relatively fast and unstable system, which the Ball & Plate certainly is. This paper compares 3 controller designs to better comprehend the situa-tion - a general LQR state-space control, LQ polyno-mial control and a basic PD controller. Results are also compared for a range of reference values to bet-ter understand advantages and disadvantages of chosen controllers, which will lead to future work and imple-mentation for the real system. Data presented in this paper serve as a valuable background for next steps of the research and implementation.
Full text: