Abstract

This paper presents the Takagi Sugeno (TS) fuzzy scheme for stabilization and motion control of ball on plate system. Plant nonlinearity and inter-axis coupling are the two major challenges which enhance the complexity of controller design for ball on plate system. Hence, in this paper, we utilize the TS fuzzy-based input–output mapping to deal with the nonlinearities and model variation associated with the ball on plate system, which emulates the concept of visual servo control (VSC). The motivation for using TS fuzzy model is that it can capture the dynamics of a nonlinear plant model with fewer fuzzy rules and yield better accuracy compared to Mamdani fuzzy. Moreover, as TS fuzzy is a multimodal approach, it offers a systematic way to derive the fuzzy rules from the given input–output data. The performance of the control scheme is validated through simulation, and the tracking results prove that the TS fuzzy scheme can offer precise tracking control of ball on plate system.

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