title: A novel disturbance-observer based friction compensation scheme for ball and plate system.
abstract: Friction is often ignored when designing a controller for the ball and plate system, which can lead to steady-error and stick-slip phenomena, especially for the small amplitude command. It is difficult to achieve high-precision control performance for the ball and plate system because of its friction. A novel reference compensation strategy is presented to attenuate the aftereffects caused by the friction. To realize this strategy, a linear control law is proposed based on a reduced-order observer. Neither the accurate friction model nor the estimation of specific characteristic parameters is needed in this design. Moreover, the describing function method illustrates that the limit cycle can be avoided. Finally, the comparative mathematical simulations and the practical experiments are used to validate the effectiveness of the proposed method.
authors.affiliation: Department of Automation, Nankai University, Nankai District, Tianjin 300071, China. Electronic address: wangyongkun1029@126.com.
authors.forename: Yongkun
authors.initials: Y
authors.lastname: Wang
authors.affiliation: Department of Automation, Nankai University, Nankai District, Tianjin 300071, China. Electronic address: smw_sunmingwei@163.com.
authors.forename: Mingwei
authors.initials: M
authors.lastname: Sun
authors.affiliation: Department of Electrical and Mining Engineering, University of South Africa, Florida 1710, South Africa. Electronic address: wangzengh@gmail.com.
authors.forename: Zenghui
authors.initials: Z
authors.lastname: Wang
authors.affiliation: Department of Automation, Nankai University, Nankai District, Tianjin 300071, China. Electronic address: lzhx@nankai.edu.cn.
authors.forename: Zhongxin
authors.initials: Z
authors.lastname: Liu
authors.affiliation: Department of Automation, Nankai University, Nankai District, Tianjin 300071, China. Electronic address: chenzq@nankai.edu.cn.
authors.forename: Zengqiang
authors.initials: Z
authors.lastname: Chen
keywords: Active disturbance rejection control; Ball and plate system; Disturbance observer; Friction compensation; Limit cycle