Ball and plate position control based on fuzzy logic with adaptive integral control action

Abstract

This paper proposes a position control technique for ball and plate system using fuzzy logic with adaptive integral control action. The adaptive integral gain can automatically adjust its value linearly and only active when the ball's position is within the specified distance error. This novel scheme utilizes the ability of integral gain to eliminate steady-state error and adopts fuzzy logic technique because of its simplicity of not having to find mathematical model for this nonlinear system. Current position of a ball is determined by using a webcam positioned right above a plate. Four experimental results verify the effectiveness of this control scheme.