In the ball and plate system,due to the sensor hysteresis effect,the measurement delay of the ball displacement and velocity signal will result in the tracking error.To solve this problem,a sliding mode control method based on output de-lay observer is proposed.Using Newton's law and Lagrange equation,the dynamic analysis of the ball and plate system is car-ried out to obtain the state equation,and the linearization model of the system is obtained after simplification.According to this,the output delay observer is designed,and the stability of the observer is ensured by the stability condition equation.The sliding mode controller is designed and analyzed,and the convergence of the system is guaranteed by the Lyapunov function.Based on this,a sliding mode controller with fixed measurement delay observer is designed.Finally,the simulation is carried out through the Simulink environment in MATLAB software.The results show that the controller gives the system good trajec-tory tracking performance.
关键词
板球系统/延时观测器/滑模控制/轨迹跟踪/MATLAB仿真
Key words
ball and plate system/delay observer/sliding mode control/trajectory tracking/MATLAB simulation
维普
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