Ball and plate control system based on sliding mode control with uncertain items observe compensation

摘要

Aiming at Ball and plate system is a nonlinear, and under-actuated system system. the sliding mode control with uncertain items observe compensation is proposed, the nonlinear and uncertain items can be estimated in the control method, from the compensation uncertain items perspective, the decoupling and Linearization can be realized. The result of simulation and experiments indicate the proposed scheme can effectively solve the problems of trajectory tracking in the system has nonlinear and under-actuated.