Control for ball and plate system based on RBF-ADRC

Aiming at multiple input uncertainty high-order nonlinear ball and plate system, a control strategy of cascade control with multiple auto-disturbance-rejection controls is proposed. To improve the adaptive ability of the ADRC, RBF neural network is used in the parameters optimization. The simulation experiments show that the proposed control method can effectively solve the problems of coupling and uncertainty. The trajectory tracking effect is satisfactory.