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

摘要

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 the ball and obstacles.