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

@article{Rastin2013TrajectoryTA,
  title={Trajectory tracking and obstacle avoidance of a ball and plate system using fuzzy theory},
  author={Mohammadali Rastin and S. Ali A. Moosavian and Erfan Talebzadeh and Mojtaba Alaeddin},
  journal={2013 13th Iranian Conference on Fuzzy Systems (IFSC)},
  year={2013},
  pages={1-5}
}
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… CONTINUE READING

Citations

Publications citing this paper.
Showing 1-3 of 3 extracted citations

References

Publications referenced by this paper.
Showing 1-6 of 6 references

Similar Papers

Loading similar papers…