Commparison Between Different Methods of Control of Ball and Plate System with 6DOF Stewart Platform

In this paper, we tackle the control problem of ball and plate system (BPS) with 6 DOF Stewart platform. The BPS is a typical multi-variable nonlinear system which is a two dimensional expansion of the ball and beam system. Four strategies are proposed for static and dynamic position tracking: PID, LQR, Sliding Mode and Fuzzy controller. The results of simulation and also the validation on real system are provided. The comparison between the proposed strategies is presented based on the performance of the tracking.