Diseño, implementación y comparación de los algoritmos de control SMC, Fuzzy y FSMC, de un sistema de balance ball & plate (esfera & plato) para el control de posición y seguimiento de camino de una esfera

Abstract

The prototype ball & plate is a highly unstable test plant and is a support for the teaching and implementation of various control techniques, in this proposal three algorithms are implemented and compared: SMC, FUZZY and FSMC. In this project, five wire resistive touch panel acts as the plate of the mechanism that permanently senses the position of the free ball, and as final control elements, two servomotors that allow manipulation of the inclination of the plate. For the acquisition and management of the plant's own signals, the Arduino Mega embedded card is used, communicated by serial link to interact continuously with the interface on the computer, through the MatLab / Simulink environment where the input data is processed, the controller works and the control signals are generated for each servomotor.