loading page

Comparison between PID controller and a nonlinear control based on neural network modelling applied to a ball and plate system
  • Profile pic
  • Fallbackprofileimagethumb
  • Gabriel Nunes,
  • Vitorino Biazi Neto,
  • Márcio Coelho de Mattos
Gabriel Nunes
Universidade Federal do Espírito Santo
Author Profile
Profile pic
Vitorino Biazi Neto
Universidade Federal do Espírito Santo
Author Profile
Márcio Coelho de Mattos
Universidade Federal do Espírito Santo

Abstract

In this work we present two proposals to control the position and the path of a sphere on a two degree of freedom flat surface. This pair is known as ball and plate and the first approach consists in a linear approximation for the original dynamical model in order to apply a PID controller to get some metrics and compare to the second approach which is a neural network evolutionary training that make possible include the non linearity of the ball and plate dynamics . Both of theses strategies are applied to a virtual simulation where we can predict the behavior of the sphere based on a set of constitutive equations derived taking into account all rigid body and non-slip bearing simplifications. As the controllers are adjusted, we enter as input the actual position of the ball with a pattern recognition algorithm to mimic a sensing done with cameras commonly seen in experimental benches for this system.