Agile Ball and Plate System

Описание: The Ball and plate system is a generalization of the famous Ball and Beam benchmark to two degrees of freedom. The ball and plate system shown in this video is built by Mohsen Saadat and Miad Moarref, M.Sc. students at Mechanical Engineering Department, Sharif University of Technology, Tehran, IRAN.
The ball's position feedback is acquired via a webcam. Note that the webcam (not visible in the video) is located about 80 cm above the plate's surface.
A fuzzy gain scheduling PID controller is used for the experiments in this video. The gains are tuned to work well even under large initial errors, i.e. when the ball is thrown on the plate and both position and velocity errors are very large. In the tracking experiment the radius of the desired circle is 10 cm, the tracking velocity is about 9 cm/s, and the average tracking error is less than 15 mm.

See the following paper for more details:
M. Moarref, M. Saadat, and GH. Vossoughi, "Mechatronic design and position control of a novel ball and plate system", in proceedings of the 16th Mediterranean Conference on Control and Automation (MED08), Ajaccio, France, 2008, pp. 1071--1076.