Design of LQR controller for Ballbot and hardware implementation

Edwin Paul Mocherlla, Winston Netto, Sherine Jesna

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A Ballbot is a single spherical wheeled robot with single point of contact with ground. This makes the system statically unstable. It attains stability only with the help of a sophisticated controller. For the controller design and to analyze the behavior of the system, the ballbot was modelled using Lagrangian formulation and a state-space model is derived. LQR controllers for each plane of instability are designed and then tuned from simulation results and was implemented on hardware. The controller is implemented as a computer algorithm that reads/senses various physical parameters of the robot and generates a computed control signal. Ballbot structure is designed using Solidworks software and the hardware model is fabricated.

Original languageEnglish
Title of host publication2017 9th International Conference on Information Technology and Electrical Engineering, ICITEE 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1-6
Number of pages6
Volume2018-January
ISBN (Electronic)9781509064779
DOIs
Publication statusPublished - 08-01-2018
Event9th International Conference on Information Technology and Electrical Engineering, ICITEE 2017 - Phuket, Thailand
Duration: 12-10-201713-10-2017

Conference

Conference9th International Conference on Information Technology and Electrical Engineering, ICITEE 2017
CountryThailand
CityPhuket
Period12-10-1713-10-17

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All Science Journal Classification (ASJC) codes

  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering
  • Control and Optimization
  • Computer Science Applications
  • Computer Vision and Pattern Recognition

Cite this

Mocherlla, E. P., Netto, W., & Jesna, S. (2018). Design of LQR controller for Ballbot and hardware implementation. In 2017 9th International Conference on Information Technology and Electrical Engineering, ICITEE 2017 (Vol. 2018-January, pp. 1-6). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICITEED.2017.8250491