Application of Higher-Order Sliding-Modes to a Ball and Plate System

Abstract

This paper presents a control strategy that combines feedback-linearization with higher-order sliding-mode control for the tracking control of a cam-plate driven ball and plate system. The concept of the practical relative degree legitimates to reconsider the system representation as a simpler feedback-linearizable system. For the remaining linear dynamics, a higher-order sliding-mode algorithm serves to estimate the states required for a super-twisting controller. The effectiveness of the proposed approach is demonstrated on a laboratory test-bench imposing a circular trajectory for tracking.