Control design and robustness analysis of a ball and plate system by using polynomial chaos

Detalhes bibliográficos
Autor(a) principal: Colón, Diego
Data de Publicação: 2014
Outros Autores: Balthazar, José M. [UNESP], Dos Reis, Célia A. [UNESP], Bueno, Átila M. [UNESP], Diniz, Ivando S. [UNESP], De S. R. F. Rosa, Suelia
Tipo de documento: Artigo de conferência
Idioma: eng
Título da fonte: Repositório Institucional da UNESP
Texto Completo: http://dx.doi.org/10.1063/1.4904583
http://hdl.handle.net/11449/232666
Resumo: In this paper, we present a mathematical model of a ball and plate system, a control law and analyze its robustness properties by using the polynomial chaos method. The ball rolls without slipping. There is an auxiliary robot vision system that determines the bodies' positions and velocities, and is used for control purposes. The actuators are to orthogonal DC motors, that changes the plate's angles with the ground. The model is a extension of the ball and beam system and is highly nonlinear. The system is decoupled in two independent equations for coordinates x and y. Finally, the resulting nonlinear closed loop systems are analyzed by the polynomial chaos methodology, which considers that some system parameters are random variables, and generates statistical data that can be used in the robustness analysis.
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spelling Control design and robustness analysis of a ball and plate system by using polynomial chaosAir HeatingPolynomial ChaosRobust ControlIn this paper, we present a mathematical model of a ball and plate system, a control law and analyze its robustness properties by using the polynomial chaos method. The ball rolls without slipping. There is an auxiliary robot vision system that determines the bodies' positions and velocities, and is used for control purposes. The actuators are to orthogonal DC motors, that changes the plate's angles with the ground. The model is a extension of the ball and beam system and is highly nonlinear. The system is decoupled in two independent equations for coordinates x and y. Finally, the resulting nonlinear closed loop systems are analyzed by the polynomial chaos methodology, which considers that some system parameters are random variables, and generates statistical data that can be used in the robustness analysis.University of São Paulo Polytechnic School LAC -PTCSão Paulo State University Rio Claro CampusSão Paulo State University Bauru CampusSão Paulo State University Sorocaba CampusUniversity of BrasiliaSão Paulo State University Rio Claro CampusSão Paulo State University Bauru CampusSão Paulo State University Sorocaba CampusUniversidade de São Paulo (USP)Universidade Estadual Paulista (UNESP)University of BrasiliaColón, DiegoBalthazar, José M. [UNESP]Dos Reis, Célia A. [UNESP]Bueno, Átila M. [UNESP]Diniz, Ivando S. [UNESP]De S. R. F. Rosa, Suelia2022-04-30T03:18:57Z2022-04-30T03:18:57Z2014-12-10info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/conferenceObject226-234http://dx.doi.org/10.1063/1.4904583AIP Conference Proceedings, v. 1637, p. 226-234.1551-76160094-243Xhttp://hdl.handle.net/11449/23266610.1063/1.49045832-s2.0-85031857105Scopusreponame:Repositório Institucional da UNESPinstname:Universidade Estadual Paulista (UNESP)instacron:UNESPengAIP Conference Proceedingsinfo:eu-repo/semantics/openAccess2022-04-30T03:18:57Zoai:repositorio.unesp.br:11449/232666Repositório InstitucionalPUBhttp://repositorio.unesp.br/oai/requestopendoar:29462024-08-05T18:49:28.017257Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)false
dc.title.none.fl_str_mv Control design and robustness analysis of a ball and plate system by using polynomial chaos
title Control design and robustness analysis of a ball and plate system by using polynomial chaos
spellingShingle Control design and robustness analysis of a ball and plate system by using polynomial chaos
Colón, Diego
Air Heating
Polynomial Chaos
Robust Control
title_short Control design and robustness analysis of a ball and plate system by using polynomial chaos
title_full Control design and robustness analysis of a ball and plate system by using polynomial chaos
title_fullStr Control design and robustness analysis of a ball and plate system by using polynomial chaos
title_full_unstemmed Control design and robustness analysis of a ball and plate system by using polynomial chaos
title_sort Control design and robustness analysis of a ball and plate system by using polynomial chaos
author Colón, Diego
author_facet Colón, Diego
Balthazar, José M. [UNESP]
Dos Reis, Célia A. [UNESP]
Bueno, Átila M. [UNESP]
Diniz, Ivando S. [UNESP]
De S. R. F. Rosa, Suelia
author_role author
author2 Balthazar, José M. [UNESP]
Dos Reis, Célia A. [UNESP]
Bueno, Átila M. [UNESP]
Diniz, Ivando S. [UNESP]
De S. R. F. Rosa, Suelia
author2_role author
author
author
author
author
dc.contributor.none.fl_str_mv Universidade de São Paulo (USP)
Universidade Estadual Paulista (UNESP)
University of Brasilia
dc.contributor.author.fl_str_mv Colón, Diego
Balthazar, José M. [UNESP]
Dos Reis, Célia A. [UNESP]
Bueno, Átila M. [UNESP]
Diniz, Ivando S. [UNESP]
De S. R. F. Rosa, Suelia
dc.subject.por.fl_str_mv Air Heating
Polynomial Chaos
Robust Control
topic Air Heating
Polynomial Chaos
Robust Control
description In this paper, we present a mathematical model of a ball and plate system, a control law and analyze its robustness properties by using the polynomial chaos method. The ball rolls without slipping. There is an auxiliary robot vision system that determines the bodies' positions and velocities, and is used for control purposes. The actuators are to orthogonal DC motors, that changes the plate's angles with the ground. The model is a extension of the ball and beam system and is highly nonlinear. The system is decoupled in two independent equations for coordinates x and y. Finally, the resulting nonlinear closed loop systems are analyzed by the polynomial chaos methodology, which considers that some system parameters are random variables, and generates statistical data that can be used in the robustness analysis.
publishDate 2014
dc.date.none.fl_str_mv 2014-12-10
2022-04-30T03:18:57Z
2022-04-30T03:18:57Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/conferenceObject
format conferenceObject
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://dx.doi.org/10.1063/1.4904583
AIP Conference Proceedings, v. 1637, p. 226-234.
1551-7616
0094-243X
http://hdl.handle.net/11449/232666
10.1063/1.4904583
2-s2.0-85031857105
url http://dx.doi.org/10.1063/1.4904583
http://hdl.handle.net/11449/232666
identifier_str_mv AIP Conference Proceedings, v. 1637, p. 226-234.
1551-7616
0094-243X
10.1063/1.4904583
2-s2.0-85031857105
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv AIP Conference Proceedings
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv 226-234
dc.source.none.fl_str_mv Scopus
reponame:Repositório Institucional da UNESP
instname:Universidade Estadual Paulista (UNESP)
instacron:UNESP
instname_str Universidade Estadual Paulista (UNESP)
instacron_str UNESP
institution UNESP
reponame_str Repositório Institucional da UNESP
collection Repositório Institucional da UNESP
repository.name.fl_str_mv Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)
repository.mail.fl_str_mv
_version_ 1808128985482133504

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