Control Algorithms Cricket System

Ball&Plate system is a typical multivariable、nonlinear and under-actuated control system. It evolves from ball and beam system, and it is a typical platform to verify the effectiveness of the algorithm. It is used to achieve stabilization control and cricket’s trajectory tracking.In this paper, we use Lagrange equation to established mathematical model of the Ball-Plate by ignoring certain factors. Then we obtain the simplified model and make a controllability analysis. At the same time, according to the actual situation, we select the angular acceleration as the input of the control system.This paper introduce the algorithm theory in detail, which contains PID algorithm, Pole placement algorithm, LQR algorithm, fuzzy algorithm, Adaptive variable universe fuzzy algorithm, and Adaptive neural fuzzy algorithm. It uses the comprehensive quantity of LQR parameters weighted as the inputs of control associated with the fuzzy control. So it not only reduces the number of the fuzzy controller; but also simplifies the difficulty of the design of parameters. Further we illustrate the advantages and disadvantages of each algorithm.Finally, it designs the algorithm controller in detail and built a simulation model. To make the simulation results more realistic, it set the same simulation conditions and initial value. Through the simulation by inputting square wave, it compares tracking response curve, the input response curve of the system and the output angle response curve of the system. We can analysis and obtain that adaptive neuro-fuzzy network can get a good steady-state performance, control accuracy and response speed.So adaptive neuro-fuzzy controller is ideal, for the control of the cricket system...