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Ball and Plate system is a well-known benchmark to test control strategies because of its multivariable nonlinear coupled dynamics, open loop instability and under actuation. Moreover, presence of parameter uncertainty and external disturbance makes it further challenging and interesting. This calls for a robust controller which not only stabilises the ball on the plate but also makes the ball follow...
In this study, to achieve the multi-axis cross-coupled control (CCC) to render contouring accuracy for arbitrary contour commands, the estimated contouring error vector which is constructed by the tracking error vector and the normalized tangential vector of the trajectory is proposed. Furthermore, this paper introduces the integrated motion systems which combine the feedback loops, the feedforward...
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